MoveIt Pro Objective Integration Tests

185

Total objective tests

Objectives passed

Objectives failed

121

Objectives skipped

7.9s

Avg test time

55%

Objective pass rate

Show INFO/DEBUG

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives

23 fail13 skip

! error	Take Wrist Camera Snapshot	wrist_snap.xml	14.5s	64 errors · 45 warnings · 238 info
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×15 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×30 + 8.12sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 13.99sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 13.99sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 13.99sERRORfoxglove_bridge-29process[foxglove_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.00sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.00sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.00sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.01sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.01sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.01sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 14.03sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.03sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.03sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.03sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 14.05sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.05sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process[ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.06sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.06sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.06sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.07sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.07sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.07sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.08sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.08sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.08sINFOfoxglove_bridge-29sending signal 'SIGTERM' to process[foxglove_bridge-29] ×2 + 14.10sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 14.11sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 14.13sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 14.14sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 14.16sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 14.18sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 14.18sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 14.20sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 14.22sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 14.23sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 14.24sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 14.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9] ×2 + 14.27sINFOweb_video_server-31process has finished cleanly [pid 24439] ×2 + 14.28sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 14.28sINFOcontroller_managerShutdown request received.... + 14.28sINFOcontroller_managerShutting down all controllers in the controller manager. + 14.28sINFOcontroller_managerShutting down the controller manager. + 14.28sINFOtf2_web_republisher_node-30process has finished cleanly [pid 24438] ×2 + 14.28sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has died [pid 24345, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. ×2 + 14.29sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 14.31sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 14.33sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 14.35sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 14.36sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 14.37sERRORui_teleop_bridge-28process has died [pid 24436, 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_ikgw305x']. ×2 + 14.38sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 14.40sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 14.40sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 14.40sINFOcontroller_serverCleaning up + 14.40sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 24431] ×2 + 14.40sINFOlocal_costmap.local_costmapCleaning up + 14.40sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 14.40sINFOfoxglove_bridgeShutting down foxglove_bridge[0m ×2 + 14.40sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 14.40sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 14.40sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 14.40sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 14.40sINFOui_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 + 14.40sINFOui_teleop_bridgerclpy.shutdown() ×2 + 14.40sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 14.40sINFOui_teleop_bridge_shutdown(context=context) ×2 + 14.40sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 14.40sINFOui_teleop_bridgecontext.shutdown() ×2 + 14.40sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 14.40sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 14.40sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 14.40sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 14.40sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 14.40sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 14.40sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 14.41sINFOmove_joint_resampler_node-23process has finished cleanly [pid 24370] ×2 + 14.41sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 14.41sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 14.41sINFOexecute_objective_bridge-27process has finished cleanly [pid 24435] ×2 + 14.41sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 14.41sINFOobjective_server_node[2026-06-03 13:59:46.180] [moveit_pro_license] [info] ×2 + 14.41sINFOobjective_server_node************************************************* ×4 + 14.41sINFOobjective_server_node* MoveIt Pro License ×2 + 14.41sINFOobjective_server_node* Application has successfully terminated ×2 + 14.41sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 14.41sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 14.41sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 14.41sINFOros2_control_nodeShutdown request received....[0m ×2 + 14.41sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 14.41sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 14.41sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 14.41sINFOmove_groupDeleting MoveItCpp[0m ×2 + 14.41sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×4 + 14.41sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 14.42sINFOmove_groupStopping world geometry monitor[0m ×2 + 14.42sINFOmove_groupStopping planning scene monitor[0m ×2 + 14.42sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 14.42sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 14.42sINFOodom_qos_relay.pymain() ×2 + 14.42sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 14.42sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 14.42sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 14.42sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 14.42sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 14.42sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 14.42sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 14.42sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 14.42sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 14.42sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 14.42sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 14.42sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 14.42sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 14.42sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 14.42sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 14.42sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×6 + 14.43sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 14.43sINFOwaypoint_manager_node-22process has finished cleanly [pid 24369] ×2 + 14.44sINFOparameter_manager_node-21process has finished cleanly [pid 24366] ×2 + 14.44sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 14.44sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 14.44sINFOmap_serverDeactivating + 14.44sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 14.45sINFOmap_serverCleaning up + 14.45sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 14.45sINFOsmoother_serverCleaning up + 14.46sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 14.46sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 14.46sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 14.47sINFOcomponent_container_mt-26process has finished cleanly [pid 24433] ×2 + 14.47sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 14.47sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 14.47sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 14.47sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 14.47sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 14.47sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 14.47sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 14.47sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 14.47sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 14.47sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 14.47sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 14.48sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 14.48sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 14.50sINFOobjective_server_node_main-25process has finished cleanly [pid 24432] ×2 + 14.50sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 14.51sINFOfoxglove_bridgeShutdown complete[0m ×2 + 14.52sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 24266] ×2 + 14.53sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 24265] ×2 + 14.56sINFOstatic_transform_publisher-4process has finished cleanly [pid 24263] ×2 + 14.57sINFOmove_group-20process has finished cleanly [pid 24364] ×2 + 14.58sINFOstatic_transform_publisher-3process has finished cleanly [pid 24262] ×2 + 14.60sINFOstatic_transform_publisher-2process has finished cleanly [pid 24261] ×2 + 14.60sERRORodom_qos_relay.py-5process has died [pid 24264, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 14.71sINFOros2_control_node-8process has finished cleanly [pid 24267] ×2 + 14.93sERRORcomponent_container_isolated-1process has died [pid 24260, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_f6t_q4ei --params-file /tmp/launch_params_tcg_u9oo -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 16.32sINFOfoxglove_bridge-29process has finished cleanly [pid 24437] ×2 + 16.32sINFOlaunchprocess[foxglove_bridge-29] was required: shutting down launched system ×2
! error	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	5.0s	36 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24
! error	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	5.0s	56 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24 + 7.57sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... ×2 + 7.85sWARNros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... ×2 + 8.00sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... ×2 + 8.08sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... ×2 + 8.10sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... ×2 + 8.19sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... ×2 + 8.21sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... ×2 + 8.33sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... ×2 + 8.37sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... ×2 + 8.49sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... ×2
! error	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	5.0s	56 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24 + 2.57sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... ×2 + 2.85sWARNros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... ×2 + 3.00sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... ×2 + 3.08sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... ×2 + 3.10sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... ×2 + 3.19sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... ×2 + 3.21sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... ×2 + 3.33sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... ×2 + 3.37sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... ×2 + 3.49sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... ×2
! error	Find and Spray Plane	find_and_spray_plane.xml	5.0s	36 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24
! error	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	5.0s	56 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24 + 5.58sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 5.86sWARNros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 6.01sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 6.10sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 6.11sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 6.20sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 6.22sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 6.35sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 6.39sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 6.50sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2
! error	Move Boxes Looping	move_boxes_looping.xml	5.0s	56 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24 + 0.58sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 0.86sWARNros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 1.01sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 1.10sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 1.11sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 1.20sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 1.22sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 1.35sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 1.39sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 1.50sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2
! error	Move to Arm Upright	move_to_arm_upright.xml	5.0s	36 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24
! error	Move to Look at Plane	move_to_look_at_plane.xml	5.0s	36 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24
! error	Plan Path Along Surface	plan_path_along_surface.xml	5.0s	56 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24 + 8.60sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... ×2 + 8.88sWARNros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... ×2 + 9.03sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... ×2 + 9.12sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... ×2 + 9.13sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... ×2 + 9.22sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... ×2 + 9.24sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... ×2 + 9.37sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... ×2 + 9.40sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... ×2 + 9.52sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... ×2
! error	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	5.0s	36 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24
! error	Point-to-Point Trajectory	point-to-point_trajectory.xml	5.0s	36 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24
! error	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	5.0s	40 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24 + 11.62sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... ×2 + 11.89sWARNros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... ×2
! error	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	5.0s	40 errors · 56 warnings · 20 info
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24 + 6.62sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... ×2 + 6.89sWARNros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... ×2 + 7.05sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... ×2 + 7.13sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... ×2 + 7.14sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... ×2 + 7.23sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... ×2 + 7.26sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... ×2 + 7.38sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... ×2 + 7.42sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... ×2 + 7.54sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... ×2 + 9.62sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock after multiple attempts. ×2 + 9.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[ros2run]: Process exited with failure 1 ×2 + 9.68sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has died [pid 24361, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller']. ×2 + 9.90sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock after multiple attempts. ×2 + 9.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[ros2run]: Process exited with failure 1 ×2 + 9.96sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has died [pid 24347, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster']. ×2 + 10.05sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock after multiple attempts. ×2 + 10.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2[ros2run]: Process exited with failure 1 ×2 + 10.11sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has died [pid 24352, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2']. ×2 + 10.14sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock after multiple attempts. ×2 + 10.14sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock after multiple attempts. ×2 + 10.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller[ros2run]: Process exited with failure 1 ×2 + 10.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper[ros2run]: Process exited with failure 1 ×2 + 10.20sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has died [pid 24349, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller']. ×2 + 10.21sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has died [pid 24351, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper']. ×2 + 10.23sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock after multiple attempts. ×2 + 10.26sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock after multiple attempts. ×2 + 10.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller[ros2run]: Process exited with failure 1 ×2 + 10.30sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has died [pid 24359, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller']. ×2 + 10.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster[ros2run]: Process exited with failure 1 ×2 + 10.32sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has died [pid 24346, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster']. ×2 + 10.39sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock after multiple attempts. ×2 + 10.42sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock after multiple attempts. ×2 + 10.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller[ros2run]: Process exited with failure 1 ×2 + 10.46sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has died [pid 24355, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller']. ×2 + 10.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[ros2run]: Process exited with failure 1 ×2 + 10.50sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has died [pid 24357, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller']. ×2 + 10.54sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock after multiple attempts. ×2 + 10.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller[ros2run]: Process exited with failure 1 ×2 + 10.60sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has died [pid 24363, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller']. ×2
! error	Solution - Draw Picknik	solution_draw_picknik.xml	5.0s	40 errors · 56 warnings · 20 info
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24 + 1.62sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... ×2 + 1.89sWARNros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... ×2 + 2.05sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... ×2 + 2.13sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... ×2 + 2.14sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... ×2 + 2.23sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... ×2 + 2.26sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... ×2 + 2.38sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... ×2 + 2.42sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... ×2 + 2.54sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... ×2 + 4.62sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock after multiple attempts. ×2 + 4.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[ros2run]: Process exited with failure 1 ×2 + 4.68sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has died [pid 24361, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller']. ×2 + 4.90sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock after multiple attempts. ×2 + 4.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[ros2run]: Process exited with failure 1 ×2 + 4.96sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has died [pid 24347, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster']. ×2 + 5.05sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock after multiple attempts. ×2 + 5.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2[ros2run]: Process exited with failure 1 ×2 + 5.11sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has died [pid 24352, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2']. ×2 + 5.14sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock after multiple attempts. ×2 + 5.14sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock after multiple attempts. ×2 + 5.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller[ros2run]: Process exited with failure 1 ×2 + 5.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper[ros2run]: Process exited with failure 1 ×2 + 5.20sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has died [pid 24349, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller']. ×2 + 5.21sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has died [pid 24351, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper']. ×2 + 5.23sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock after multiple attempts. ×2 + 5.26sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock after multiple attempts. ×2 + 5.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller[ros2run]: Process exited with failure 1 ×2 + 5.30sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has died [pid 24359, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller']. ×2 + 5.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster[ros2run]: Process exited with failure 1 ×2 + 5.32sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has died [pid 24346, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster']. ×2 + 5.39sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock after multiple attempts. ×2 + 5.42sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock after multiple attempts. ×2 + 5.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller[ros2run]: Process exited with failure 1 ×2 + 5.46sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has died [pid 24355, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller']. ×2 + 5.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[ros2run]: Process exited with failure 1 ×2 + 5.50sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has died [pid 24357, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller']. ×2 + 5.54sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock after multiple attempts. ×2 + 5.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller[ros2run]: Process exited with failure 1 ×2 + 5.60sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has died [pid 24363, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller']. ×2
! error	Solution - Draw Square	solution_draw_square.xml	5.0s	32 errors · 37 warnings · 16 info
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×13 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24 + 0.05sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock after multiple attempts. ×2 + 0.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2[ros2run]: Process exited with failure 1 ×2 + 0.11sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has died [pid 24352, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2']. ×2 + 0.14sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock after multiple attempts. ×2 + 0.14sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock after multiple attempts. ×2 + 0.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller[ros2run]: Process exited with failure 1 ×2 + 0.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper[ros2run]: Process exited with failure 1 ×2 + 0.20sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has died [pid 24349, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller']. ×2 + 0.21sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has died [pid 24351, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper']. ×2 + 0.23sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock after multiple attempts. ×2 + 0.26sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock after multiple attempts. ×2 + 0.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller[ros2run]: Process exited with failure 1 ×2 + 0.30sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has died [pid 24359, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller']. ×2 + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster[ros2run]: Process exited with failure 1 ×2 + 0.32sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has died [pid 24346, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster']. ×2 + 0.39sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock after multiple attempts. ×2 + 0.42sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock after multiple attempts. ×2 + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller[ros2run]: Process exited with failure 1 ×2 + 0.46sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has died [pid 24355, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller']. ×2 + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[ros2run]: Process exited with failure 1 ×2 + 0.50sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has died [pid 24357, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller']. ×2 + 0.54sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock after multiple attempts. ×2 + 0.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller[ros2run]: Process exited with failure 1 ×2 + 0.60sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has died [pid 24363, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller']. ×2
! error	Solution - Generate coverage path	solution_generate_coverage_path.xml	5.0s	38 warnings
+ 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×26 + 1.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12
! error	Solution - Move Forward 2m	solution_move_forward_2m.xml	5.0s	36 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24
! error	Solution - Spray Plane	solution_spray_plane.xml	5.0s	36 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24
! error	Take Scene Camera Snapshot	take_snap.xml	5.0s	36 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24
! error	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	5.0s	36 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24
! error	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	5.0s	56 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24 + 10.58sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 10.86sWARNros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 11.01sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 11.10sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 11.11sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 11.20sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 11.22sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 11.35sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 11.39sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 11.50sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2
! error	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	5.0s	56 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24 + 3.60sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... ×2 + 3.88sWARNros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... ×2 + 4.03sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... ×2 + 4.12sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... ×2 + 4.13sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... ×2 + 4.22sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... ×2 + 4.24sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... ×2 + 4.37sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... ×2 + 4.40sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... ×2 + 4.52sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	21 warnings · 41 info
+ 0.00sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - ExecuteTaskSolution * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - SetActiveControllerService * - URDFPlanningSceneCapability ****************************************************** + 0.00sINFOmove_group ×8 + 0.00sINFOmove_group****************************************************** ×4 + 0.00sINFOmove_group* MoveGroup using: ×2 + 0.00sINFOmove_group* - apply_planning_scene_service ×2 + 0.00sINFOmove_group* - clear_octomap_service ×2 + 0.00sINFOmove_group* - ExecuteTaskSolution ×2 + 0.00sINFOmove_group* - get_group_urdf ×2 + 0.00sINFOmove_group* - load_geometry_from_file ×2 + 0.00sINFOmove_group* - get_planning_scene_service ×2 + 0.00sINFOmove_group* - kinematics_service ×2 + 0.00sINFOmove_group* - save_geometry_to_file ×2 + 0.00sINFOmove_group* - GetPlanningGroups ×2 + 0.00sINFOmove_group* - SetActiveControllerService ×2 + 0.00sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.00sINFOmove_group[0m ×2 + 0.00sINFOmove_group[92mYou can start planning now![0m ×2 + 0.04sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.04sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	21 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	41 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 5.58sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 5.86sWARNros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 6.01sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 6.10sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 6.11sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 6.20sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 6.22sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 6.35sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 6.39sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2 + 6.50sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	21 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	21 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	21 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	21 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 41 info
+ 0.00sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - ExecuteTaskSolution * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - SetActiveControllerService * - URDFPlanningSceneCapability ****************************************************** + 0.00sINFOmove_group ×8 + 0.00sINFOmove_group****************************************************** ×4 + 0.00sINFOmove_group* MoveGroup using: ×2 + 0.00sINFOmove_group* - apply_planning_scene_service ×2 + 0.00sINFOmove_group* - clear_octomap_service ×2 + 0.00sINFOmove_group* - ExecuteTaskSolution ×2 + 0.00sINFOmove_group* - get_group_urdf ×2 + 0.00sINFOmove_group* - load_geometry_from_file ×2 + 0.00sINFOmove_group* - get_planning_scene_service ×2 + 0.00sINFOmove_group* - kinematics_service ×2 + 0.00sINFOmove_group* - save_geometry_to_file ×2 + 0.00sINFOmove_group* - GetPlanningGroups ×2 + 0.00sINFOmove_group* - SetActiveControllerService ×2 + 0.00sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.00sINFOmove_group[0m ×2 + 0.00sINFOmove_group[92mYou can start planning now![0m ×2 + 0.04sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.04sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	21 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 41 info
+ 0.00sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - ExecuteTaskSolution * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - SetActiveControllerService * - URDFPlanningSceneCapability ****************************************************** + 0.00sINFOmove_group ×8 + 0.00sINFOmove_group****************************************************** ×4 + 0.00sINFOmove_group* MoveGroup using: ×2 + 0.00sINFOmove_group* - apply_planning_scene_service ×2 + 0.00sINFOmove_group* - clear_octomap_service ×2 + 0.00sINFOmove_group* - ExecuteTaskSolution ×2 + 0.00sINFOmove_group* - get_group_urdf ×2 + 0.00sINFOmove_group* - load_geometry_from_file ×2 + 0.00sINFOmove_group* - get_planning_scene_service ×2 + 0.00sINFOmove_group* - kinematics_service ×2 + 0.00sINFOmove_group* - save_geometry_to_file ×2 + 0.00sINFOmove_group* - GetPlanningGroups ×2 + 0.00sINFOmove_group* - SetActiveControllerService ×2 + 0.00sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.00sINFOmove_group[0m ×2 + 0.00sINFOmove_group[92mYou can start planning now![0m ×2 + 0.04sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.04sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	25 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 6.62sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... ×2 + 6.89sWARNros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	37 warnings
+ 0.00sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.02sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.02sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.08sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.10sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.18sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.21sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.33sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.37sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.49sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core

4 fail3 pass13 skip

! error	—	clear_snapshot.xml	24.1s	77 errors · 300 warnings · 3952 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-03-13-53-58-023977-1d07526de1e5-23393 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 10.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 10.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 10.26sINFOros2_control_node-8process started with pid [23449] + 10.26sINFOmove_group-20process started with pid [23546] + 10.26sINFOparameter_manager_node-21process started with pid [23548] + 10.26sINFOwaypoint_manager_node-22process started with pid [23550] + 10.26sINFOmove_joint_resampler_node-23process started with pid [23552] + 10.26sINFOmove_end_effector_resampler_node-24process started with pid [23578] + 10.26sINFOobjective_server_node_main-25process started with pid [23579] + 10.26sINFOcomponent_container_mt-26process started with pid [23581] + 10.26sINFOexecute_objective_bridge-27process started with pid [23584] + 10.26sINFOui_teleop_bridge-28process started with pid [23585] + 10.26sINFOfoxglove_bridge-29process started with pid [23587] + 10.26sINFOtf2_web_republisher_node-30process started with pid [23603] + 10.26sINFOweb_video_server-31process started with pid [23604] + 10.28sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 10.28sINFOcomponent_container_isolated-1process started with pid [23442] + 10.28sINFOstatic_transform_publisher-2process started with pid [23443] + 10.30sINFOstatic_transform_publisher-3process started with pid [23444] + 10.30sINFOstatic_transform_publisher-4process started with pid [23445] + 10.30sINFOodom_qos_relay.py-5process started with pid [23446] + 10.30sINFOscan_to_scan_filter_chain-6process started with pid [23447] + 10.30sINFOscan_to_scan_filter_chain-7process started with pid [23448] + 10.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process started with pid [23527] + 10.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process started with pid [23528] + 10.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process started with pid [23529] + 10.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process started with pid [23531] + 10.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process started with pid [23533] + 10.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process started with pid [23535] + 10.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process started with pid [23537] + 10.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process started with pid [23539] + 10.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process started with pid [23541] + 10.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process started with pid [23543] + 10.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process started with pid [23544] + 10.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 10.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 10.37sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×9 + 10.37sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×9 + 10.37sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×9 + 10.37sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×9 + 10.37sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×3 + 10.37sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×3 + 10.37sINFOstatic_transform_publisherfrom 'map' to 'odom' ×3 + 10.37sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 10.37sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 10.37sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 10.40sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 10.40sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 10.40sWARNros2_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 ×3 + 10.42sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 10.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 10.47sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 10.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 10.52sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 10.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 10.61sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 10.61sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 10.62sINFOcomponent_container_mtRobot initialized[0m ×3 + 10.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 10.63sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 10.65sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 10.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 10.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 10.70sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125325 ms (missed cycles : 2).[0m + 10.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 10.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 10.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 10.80sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 10.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 10.83sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@)[0m ×3 + 10.84sINFOfoxglove_bridgeServer listening on port 3201[0m ×3 + 10.92sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 10.92sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 10.92sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 10.92sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 10.92sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 10.92sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 10.92sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 10.92sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 10.92sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×3 + 10.93sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 10.93sINFOmove_groupat line 594 in ./src/model.cpp ×318 + 10.93sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 10.96sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf_static"[0m + 10.98sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/scan_rear_filtered"[0m + 10.98sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/scan_front"[0m + 10.98sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/rosout"[0m + 11.00sINFOmove_groupat line 589 in ./src/model.cpp ×27 + 11.01sINFOmove_groupLoaded robot model in 0.43898 seconds[0m + 11.01sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 11.01sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 11.01sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/planner_server/transition_event"[0m + 11.01sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/parameter_events"[0m + 11.01sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/objective_server_heartbeat"[0m + 11.01sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector"[0m + 11.01sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/scan_front_filtered"[0m + 11.02sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/map"[0m + 11.02sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/robot_description"[0m + 11.02sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/local_costmap/local_costmap/transition_event"[0m + 11.03sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/joint_states"[0m + 11.03sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/global_costmap/global_costmap/transition_event"[0m + 11.03sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. ×6 + 11.04sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/diagnostics"[0m + 11.04sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/controller_server/transition_event"[0m + 11.04sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/smoother_server/transition_event"[0m + 11.05sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/controller_manager/statistics/values"[0m + 11.06sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/controller_manager/statistics/names"[0m + 11.07sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/controller_manager/statistics/full"[0m + 11.09sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/move_joint"[0m + 11.09sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/controller_manager/introspection_data/names"[0m + 11.09sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/controller_manager/introspection_data/full"[0m + 11.09sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/controller_manager/activity"[0m ×3 + 11.09sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/moveit_pro_ui/store_joint_state"[0m + 11.09sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/map_server/transition_event"[0m + 11.09sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/bt_navigator/transition_event"[0m + 11.09sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/controller_manager/introspection_data/values"[0m + 11.10sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/bond"[0m + 11.11sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scan_rear"[0m + 11.11sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/behavior_server/transition_event"[0m + 11.11sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/agent_interface/move_joint"[0m + 11.11sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/tf"[0m + 11.11sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/agent_interface/move_end_effector"[0m + 11.69sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 11.79sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 11.79sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×318 + 11.79sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 11.85sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×27 + 11.85sINFOwaypoint_manager_nodeLoaded robot model in 0.398794 seconds[0m + 11.85sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 11.85sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679215 ms (missed cycles : 2).[0m + 12.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 12.46sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 12.46sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 12.46sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 12.46sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 12.46sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 12.47sINFOmove_groupStopped publishing maintained planning scene.[0m ×4 + 12.47sINFOmove_groupStarting planning scene monitor[0m ×3 + 12.48sINFOmove_groupListening to '/planning_scene'[0m ×3 + 12.49sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 12.49sINFOmove_groupListening to 'collision_object'[0m ×3 + 12.49sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 12.56sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 12.56sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 12.60sERRORros2_control_nodeXML Error: Schema violation: unrecognized element ×3 + 12.60sINFOros2_control_nodeElement 'option', line 0 ×3 + 12.60sINFOros2_control_node[0m ×3 + 12.60sERRORros2_control_nodeFailed to initialize hardware 'ur_mujoco_control'[0m ×3 + 12.60sWARNros2_control_nodeSystem hardware component 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' failed to initialize.[0m ×3 + 12.60sWARNros2_control_nodeCould not load and initialize hardware. Please check previous output for more details. After you have corrected your URDF, try to publish robot description again.[0m ×3 + 12.68sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×180 + 12.86sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 12.86sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 12.87sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 13.14sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/velocity_smoother/transition_event"[0m + 13.14sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/speed_limit"[0m + 13.14sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/platform_velocity_controller_nav2/cmd_vel_unstamped"[0m + 13.15sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/plan_smoothed"[0m + 13.15sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/optimal_trajectory"[0m + 13.15sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/odom_reliable"[0m + 13.15sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/robot_description_semantic"[0m + 13.15sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/odom"[0m + 13.16sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 13.16sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 13.16sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 13.16sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 13.17sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/trajectories"[0m + 13.22sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/monitored_planning_scene"[0m + 13.22sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/local_costmap/published_footprint"[0m + 13.22sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/local_costmap/obstacle_layer_updates"[0m + 13.23sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/local_costmap/obstacle_layer_raw_updates"[0m + 13.23sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/local_costmap/obstacle_layer_raw"[0m + 13.23sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/local_costmap/obstacle_layer"[0m + 13.23sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/local_costmap/footprint"[0m + 13.23sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/local_costmap/costmap_updates"[0m + 13.23sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/local_costmap/costmap_raw"[0m + 13.23sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/local_costmap/costmap"[0m + 13.23sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/imu_sensor_broadcaster/imu_reliable"[0m + 13.23sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/global_costmap/costmap_raw_updates"[0m + 13.23sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/planning_scene"[0m + 13.23sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/global_costmap/published_footprint"[0m + 13.23sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/global_costmap/costmap_raw"[0m + 13.24sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/planning_scene_world"[0m + 13.24sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/imu_sensor_broadcaster/imu"[0m + 13.24sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/collision_object"[0m + 13.24sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/transformed_global_plan"[0m + 13.24sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/cmd_vel_nav"[0m + 13.24sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/cmd_vel"[0m + 13.24sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/local_costmap/costmap_raw_updates"[0m + 13.24sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/waypoint_follower/transition_event"[0m + 13.24sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/attached_collision_object"[0m ×3 + 13.44sINFOobjective_server_node[2026-06-03 13:54:14.840] [moveit_pro_license] [info] + 13.44sINFOobjective_server_node************************************************* ×8 + 13.44sINFOobjective_server_node* MoveIt Pro License ×4 + 13.44sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 13.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×3 + 13.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×3 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×3 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×3 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×3 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×3 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×3 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×3 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×3 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×3 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×3 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×3 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×3 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×3 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×3 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×3 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 13.60sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 13.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 13.62sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 13.78sINFOobjective_server_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 13.78sINFOobjective_server_nodeat line 594 in ./src/model.cpp ×318 + 13.78sINFOobjective_server_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 13.81sINFOobjective_server_nodeat line 589 in ./src/model.cpp ×27 + 13.81sINFOobjective_server_nodeLoaded robot model in 0.323342 seconds[0m + 13.81sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 13.81sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 13.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 13.81sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 13.81sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×3 + 13.91sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/statistics"[0m ×3 + 13.91sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/failure_reason_collector"[0m ×3 + 13.92sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/description"[0m ×3 + 14.11sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 14.17sINFOobjective_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. ×3 + 14.17sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 14.18sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 14.18sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 14.18sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 14.18sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 14.18sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 14.18sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 14.18sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 14.25sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 14.25sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×318 + 14.25sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 14.27sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×27 + 14.27sINFOcomponent_container_mtLoaded robot model in 0.446546 seconds[0m + 14.27sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 14.27sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.58sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/visual_markers"[0m ×3 + 14.58sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/blackboard_contents"[0m ×3 + 14.58sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/behavior_tree_status"[0m ×3 + 14.86sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×9 + 14.89sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 14.90sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 14.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 15.11sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/transient_monitored_planning_scene_without_octomap"[0m ×3 + 15.64sWARNobjective_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/. ×3 + 15.67sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 16.87sINFOmove_groupTrajectory execution is managing controllers[0m ×3 + 16.87sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 16.87sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 16.92sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 16.92sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×3 + 16.98sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 16.98sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 16.98sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 16.98sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 16.98sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 16.98sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 17.03sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×3 + 17.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 17.12sINFOmove_group ×12 + 17.12sINFOmove_group******************************************************** ×6 + 17.12sINFOmove_group* MoveGroup using: ×3 + 17.12sINFOmove_group* - apply_planning_scene_service ×3 + 17.12sINFOmove_group* - clear_octomap_service ×3 + 17.12sINFOmove_group* - ExecuteTaskSolution ×3 + 17.12sINFOmove_group* - get_group_urdf ×3 + 17.12sINFOmove_group* - load_geometry_from_file ×3 + 17.12sINFOmove_group* - get_planning_scene_service ×3 + 17.12sINFOmove_group* - kinematics_service ×3 + 17.12sINFOmove_group* - save_geometry_to_file ×3 + 17.12sINFOmove_group* - GetPlanningGroups ×3 + 17.12sINFOmove_group* - SetActiveControllerService ×3 + 17.12sINFOmove_group* - URDFPlanningSceneCapability ×3 + 17.12sINFOmove_group[0m ×3 + 17.12sINFOmove_group[92mYou can start planning now![0m ×3 + 17.14sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/trajectory_execution_event"[0m ×3 + 32.06sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... + 32.26sWARNros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... + 32.39sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... + 32.40sWARNros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... + 32.41sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... + 32.49sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... + 32.49sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... + 32.53sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... + 32.54sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... + 32.56sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... + 55.08sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... + 55.28sWARNros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... + 55.41sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... + 55.41sWARNros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... + 55.43sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... + 55.50sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... + 55.51sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... + 55.54sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... + 55.55sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... + 55.58sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 2 of 5 failed. Retrying in 3 seconds... + 78.10sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... + 78.30sWARNros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... + 78.42sWARNros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... + 78.42sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... + 78.44sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... + 78.52sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... + 78.53sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... + 78.56sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... + 78.57sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... + 78.60sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 3 of 5 failed. Retrying in 3 seconds... +101.11sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... +101.31sWARNros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... +101.44sWARNros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... +101.44sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... +101.46sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... +101.54sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... +101.54sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... +101.58sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... +101.59sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... +101.62sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 4 of 5 failed. Retrying in 3 seconds... +124.13sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... +124.33sWARNros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... +124.45sWARNros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... +124.46sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... +124.47sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... +124.55sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... +124.56sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... +124.59sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... +124.60sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... +124.63sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 5 of 5 failed. Retrying in 3 seconds... +127.13sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock after multiple attempts. +127.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster[ros2run]: Process exited with failure 1 +127.19sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has died [pid 23528, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster']. +127.33sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterFailed to acquire lock after multiple attempts. +127.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[ros2run]: Process exited with failure 1 +127.39sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has died [pid 23527, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. +127.45sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock after multiple attempts. +127.46sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock after multiple attempts. +127.47sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock after multiple attempts. +127.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[ros2run]: Process exited with failure 1 +127.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[ros2run]: Process exited with failure 1 +127.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller[ros2run]: Process exited with failure 1 +127.52sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has died [pid 23539, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller']. +127.52sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has died [pid 23529, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster']. +127.54sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has died [pid 23531, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller']. +127.55sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock after multiple attempts. +127.56sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock after multiple attempts. +127.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2[ros2run]: Process exited with failure 1 +127.59sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock after multiple attempts. +127.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller[ros2run]: Process exited with failure 1 +127.60sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock after multiple attempts. +127.61sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has died [pid 23535, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2']. +127.63sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has died [pid 23544, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller']. +127.63sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock after multiple attempts. +127.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller[ros2run]: Process exited with failure 1 +127.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller[ros2run]: Process exited with failure 1 +127.67sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has died [pid 23541, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller']. +127.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[ros2run]: Process exited with failure 1 +127.68sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has died [pid 23537, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller']. +127.70sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has died [pid 23543, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller']. +161.21sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +167.17sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +167.17sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +167.17sERRORfoxglove_bridge-29process[foxglove_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +167.18sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +167.18sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +167.18sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +167.18sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +167.19sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +167.19sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] +167.20sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +167.21sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +167.21sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +167.21sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +167.22sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] +167.23sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process[ros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +167.24sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +167.24sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +167.24sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +167.25sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +167.25sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +167.25sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +167.26sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +167.26sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +167.26sINFOfoxglove_bridge-29sending signal 'SIGTERM' to process[foxglove_bridge-29] +167.28sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] +167.29sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] +167.31sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] +167.32sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] +167.34sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] +167.35sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +167.36sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] +167.38sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] +167.40sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] +167.42sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] +167.43sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +167.43sINFOweb_video_server-31process has finished cleanly [pid 23604] +167.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13] +167.46sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] +167.46sINFOtf2_web_republisher_node-30process has finished cleanly [pid 23603] +167.46sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has died [pid 23533, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper']. +167.47sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +167.49sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +167.51sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +167.52sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +167.54sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +167.56sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +167.56sERRORui_teleop_bridge-28process has died [pid 23585, 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_yj4ujxli']. +167.58sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +167.58sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 23578] +167.58sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m +167.58sINFOfoxglove_bridgeShutting down foxglove_bridge[0m +167.58sINFOmove_joint_resampler_node-23process has finished cleanly [pid 23552] +167.58sERRORui_teleop_bridgeTraceback (most recent call last): +167.58sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +167.58sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) +167.58sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +167.58sINFOui_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 +167.58sINFOui_teleop_bridgerclpy.shutdown() +167.58sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +167.58sINFOui_teleop_bridge_shutdown(context=context) +167.58sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +167.58sINFOui_teleop_bridgecontext.shutdown() +167.58sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +167.58sINFOui_teleop_bridgeself.__context.shutdown() +167.58sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +167.58sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m +167.58sINFOcomponent_container_mtStopping planning scene monitor[0m +167.58sINFOexecute_objective_bridge-27process has finished cleanly [pid 23584] +167.58sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +167.58sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +167.59sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +167.59sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +167.59sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +167.59sINFOobjective_server_node[2026-06-03 13:56:48.804] [moveit_pro_license] [info] +167.59sINFOobjective_server_node* Application has successfully terminated +167.59sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +167.59sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system +167.59sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +167.59sINFOros2_control_nodeShutdown request received....[0m +167.59sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +167.59sINFOros2_control_nodeShutting down the controller manager.[0m +167.59sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +167.59sINFOmove_groupDeleting MoveItCpp[0m +167.59sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×2 +167.59sINFOmove_groupStopping world geometry monitor[0m +167.59sINFOmove_groupStopping planning scene monitor[0m +167.60sERRORodom_qos_relay.pyTraceback (most recent call last): +167.60sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> +167.60sINFOodom_qos_relay.pymain() +167.60sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main +167.60sINFOodom_qos_relay.pyrclpy.spin(node) +167.60sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +167.60sINFOodom_qos_relay.pyexecutor.spin_once() +167.60sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +167.60sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +167.60sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +167.60sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +167.60sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +167.60sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +167.60sINFOodom_qos_relay.pyreturn next(self._cb_iter) +167.60sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +167.60sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +167.60sINFOodom_qos_relay.pyraise ExternalShutdownException() +167.60sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +167.60sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×3 +167.60sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +167.61sINFOwaypoint_manager_node-22process has finished cleanly [pid 23550] +167.62sINFOparameter_manager_node-21process has finished cleanly [pid 23548] +167.66sINFOcomponent_container_mt-26process has finished cleanly [pid 23581] +167.66sINFOros2_control_nodeAsync messages lost 0[0m ×2 +167.66sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 +167.67sINFOobjective_server_node_main-25process has finished cleanly [pid 23579] +167.67sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system +167.69sINFOfoxglove_bridgeShutdown complete[0m +167.70sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 23448] +167.71sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 23447] +167.74sINFOstatic_transform_publisher-4process has finished cleanly [pid 23445] +167.75sINFOmove_group-20process has finished cleanly [pid 23546] +167.76sINFOstatic_transform_publisher-3process has finished cleanly [pid 23444] +167.78sINFOstatic_transform_publisher-2process has finished cleanly [pid 23443] +167.78sERRORodom_qos_relay.py-5process has died [pid 23446, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. +167.89sINFOros2_control_node-8process has finished cleanly [pid 23449] +168.11sERRORcomponent_container_isolated-1process has died [pid 23442, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_tpftenpa --params-file /tmp/launch_params_9936y62c -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +169.56sINFOfoxglove_bridge-29process has finished cleanly [pid 23587] +169.56sINFOlaunchprocess[foxglove_bridge-29] was required: shutting down launched system +177.39sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-03-13-56-55-444272-1d07526de1e5-24211 ×2 +187.38sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'map' +187.38sINFOstatic_tf_map_to_odomSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'map' to 'odom' +187.38sINFOstatic_tf_mj_world_to_worldSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'world' +187.42sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +187.44sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +187.44sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +187.45sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +187.51sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +187.52sINFOcontroller_serverCreating controller server +187.55sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +187.56sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +187.56sINFOcontroller_managerupdate rate is 600 Hz +187.56sINFOcontroller_managerOverruns handling is : enabled +187.56sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +187.56sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. +187.56sINFOlocal_costmap.local_costmapCreating Costmap +187.61sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +187.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037884 ms (missed cycles : 4). +187.64sINFOros2_control_node-8process started with pid [24267] ×2 +187.64sINFOmove_group-20process started with pid [24364] ×2 +187.64sINFOparameter_manager_node-21process started with pid [24366] ×2 +187.64sINFOwaypoint_manager_node-22process started with pid [24369] ×2 +187.64sINFOmove_joint_resampler_node-23process started with pid [24370] ×2 +187.64sINFOmove_end_effector_resampler_node-24process started with pid [24431] ×2 +187.65sINFOobjective_server_node_main-25process started with pid [24432] ×2 +187.65sINFOcomponent_container_mt-26process started with pid [24433] ×2 +187.65sINFOexecute_objective_bridge-27process started with pid [24435] ×2 +187.65sINFOui_teleop_bridge-28process started with pid [24436] ×2 +187.65sINFOfoxglove_bridge-29process started with pid [24437] ×2 +187.65sINFOtf2_web_republisher_node-30process started with pid [24438] ×2 +187.65sINFOweb_video_server-31process started with pid [24439] ×2 +187.65sINFOcomponent_container_isolated-1process started with pid [24260] ×2 +187.65sINFOstatic_transform_publisher-2process started with pid [24261] ×2 +187.65sINFOstatic_transform_publisher-3process started with pid [24262] ×2 +187.65sINFOstatic_transform_publisher-4process started with pid [24263] ×2 +187.65sINFOodom_qos_relay.py-5process started with pid [24264] ×2 +187.65sINFOscan_to_scan_filter_chain-6process started with pid [24265] ×2 +187.65sINFOscan_to_scan_filter_chain-7process started with pid [24266] ×2 +187.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +187.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +187.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +187.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +187.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process started with pid [24345] ×2 +187.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process started with pid [24346] ×2 +187.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process started with pid [24347] ×2 +187.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process started with pid [24349] ×2 +187.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process started with pid [24351] ×2 +187.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process started with pid [24352] ×2 +187.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process started with pid [24355] ×2 +187.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process started with pid [24357] ×2 +187.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process started with pid [24359] ×2 +187.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process started with pid [24361] ×2 +187.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process started with pid [24363] ×2 +187.70sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +187.70sINFOmap_serverCreating +187.72sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +187.75sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +187.75sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +187.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037884 ms (missed cycles : 4).[0m ×2 +187.80sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +187.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +187.83sINFOsmoother_serverCreating smoother server +187.84sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +187.85sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +187.85sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +187.86sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +187.89sINFOlifecycle_manager_localizationCreating +187.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +187.90sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +187.91sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +187.91sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +187.91sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +187.91sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +187.91sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +187.93sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +187.93sINFOmap_serverConfiguring +187.95sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +188.02sINFOplanner_serverCreating +188.03sINFOrobot_state_publisherRobot initialized +188.03sINFOcontroller_managerReceived robot description from topic. +188.03sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +188.06sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +188.07sINFOglobal_costmap.global_costmapCreating Costmap +188.07sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +188.10sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +188.11sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +188.11sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +188.11sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +188.15sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +188.15sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +188.15sINFOmap_serverActivating +188.15sINFOmap_serverCreating bond (map_server) to lifecycle manager. +188.15sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@) +188.16sINFOfoxglove_bridgeServer listening on port 3201 +188.17sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +188.17sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +188.19sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +188.20sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/scan_front_filtered" +188.20sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/scan_front_filtered"[0m ×2 +188.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +188.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +188.23sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +188.24sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/tf" +188.25sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +188.26sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/tf"[0m ×2 +188.26sINFOlifecycle_manager_localizationServer map_server connected with bond. +188.26sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +188.26sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +188.26sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/rosout" +188.26sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/rosout"[0m ×2 +188.26sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/scan_rear_filtered" +188.27sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/scan_rear_filtered"[0m ×2 +188.28sINFObt_navigatorCreating +188.29sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/parameter_events" +188.29sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/parameter_events"[0m ×2 +188.30sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +188.30sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +188.30sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat" +188.30sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +188.30sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +188.30sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat"[0m ×2 +188.30sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +188.30sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +188.30sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +188.30sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +188.30sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +188.31sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +188.31sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +188.31sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +188.32sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint" +188.32sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint"[0m ×2 +188.33sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/robot_description" +188.33sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +188.34sINFOwaypoint_followerCreating +188.34sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.382537 seconds +188.34sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +188.34sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +188.34sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/moveit_pro_ui/move_end_effector" +188.37sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/map_server/transition_event" +188.39sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +188.39sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/local_costmap/local_costmap/transition_event" +188.39sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +188.40sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +188.40sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +188.40sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +188.41sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/diagnostics" +188.42sINFOmove_groupLoaded robot model in 0.382537 seconds[0m ×2 +188.42sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/robot_description"[0m ×2 +188.42sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/moveit_pro_ui/move_end_effector"[0m ×2 +188.43sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/moveit_pro_ui/store_joint_state" +188.43sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/map_server/transition_event"[0m ×2 +188.43sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/local_costmap/local_costmap/transition_event"[0m ×2 +188.43sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/values" +188.43sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/controller_manager/statistics/names" +188.43sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static" +188.43sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/scan_front" +188.44sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +188.45sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/controller_manager/statistics/full" +188.45sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/controller_manager/introspection_data/names" +188.45sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/diagnostics"[0m ×2 +188.45sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/controller_manager/introspection_data/values" +188.45sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/controller_manager/introspection_data/full" +188.45sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/scan_rear" +188.45sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/planner_server/transition_event" +188.45sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/moveit_pro_ui/store_joint_state"[0m ×2 +188.45sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/values"[0m ×2 +188.45sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/controller_manager/statistics/names"[0m ×2 +188.45sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static"[0m ×2 +188.45sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/scan_front"[0m ×2 +188.45sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/controller_manager/statistics/full"[0m ×2 +188.46sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/controller_manager/activity" +188.46sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/smoother_server/transition_event" +188.46sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/controller_server/transition_event" +188.46sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/agent_interface/move_joint" +188.46sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/agent_interface/move_end_effector" +188.48sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/controller_manager/introspection_data/names"[0m ×2 +188.48sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/controller_manager/introspection_data/values"[0m ×2 +188.48sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/controller_manager/introspection_data/full"[0m ×2 +188.48sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/scan_rear"[0m ×2 +188.48sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/planner_server/transition_event"[0m ×2 +188.48sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/smoother_server/transition_event"[0m ×2 +188.48sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/controller_server/transition_event"[0m ×2 +188.49sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/agent_interface/move_joint"[0m ×2 +188.49sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/agent_interface/move_end_effector"[0m ×2 +188.49sINFOlifecycle_manager_navigationCreating +188.50sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +188.54sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +188.54sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +188.54sINFOcontroller_serverConfiguring controller interface +188.54sINFOcontroller_servergetting progress checker plugins.. +188.54sINFOcontroller_servergetting goal checker plugins.. +188.54sINFOcontroller_serverController frequency set to 20.0000Hz +188.54sINFOlocal_costmap.local_costmapConfiguring +188.56sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +188.58sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +188.65sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +188.65sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +188.65sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +188.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.019190 ms (missed cycles : 10). +188.73sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +188.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.019190 ms (missed cycles : 10).[0m ×2 +188.74sINFOcontroller_serverController Server has progress_checker progress checkers available. +188.76sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +188.77sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +188.80sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +188.80sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +188.85sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +188.85sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +188.85sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +188.85sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +188.85sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +188.85sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +188.85sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +188.85sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +188.85sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +188.85sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +188.85sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +188.85sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +188.85sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +188.85sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +188.85sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +188.88sINFOcontroller_serverOptimizer reset +188.90sINFOcontroller_serverController Server has FollowPath controllers available. +188.94sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +188.94sINFOsmoother_serverConfiguring smoother server +188.96sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +188.97sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +189.00sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +189.00sINFOplanner_serverConfiguring +189.00sINFOglobal_costmap.global_costmapConfiguring +189.02sERRORmove_group.moveit.ros.robot_model_loaderCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +189.03sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +189.04sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +189.04sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +189.04sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +189.06sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +189.09sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +189.09sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +189.10sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +189.15sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1008 X 1310 at 0.050000 m/pix +189.15sFATALplanner_serverFailed to create global planner. Exception: According to the loaded plugin descriptions the class nav2_navfn_planner/NavfnPlanner with base class type nav2_core::GlobalPlanner does not exist. Declared types are nav2_navfn_planner::NavfnPlanner nav2_smac_planner::SmacPlanner2D nav2_smac_planner::SmacPlannerHybrid nav2_smac_planner::SmacPlannerLattice nav2_theta_star_planner::ThetaStarPlanner +189.15sINFOplanner_serverCleaning up +189.15sINFOglobal_costmap.global_costmapCleaning up +189.18sINFOwaypoint_manager_nodeLoaded robot model in 0.443096 seconds[0m ×2 +189.23sERRORlifecycle_manager_navigationFailed to change state for node: planner_server +189.23sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. +189.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313391 ms (missed cycles : 2). +189.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313391 ms (missed cycles : 2).[0m ×2 +189.85sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +189.85sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +189.87sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +189.87sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +189.87sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +189.87sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +189.87sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +189.88sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +189.88sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +189.88sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +189.88sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +189.88sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +189.89sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +189.92sERRORcontroller_managerFailed to initialize hardware 'ur_mujoco_control' +189.92sWARNcontroller_managerSystem hardware component 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' failed to initialize. +189.92sWARNcontroller_managerCould not load and initialize hardware. Please check previous output for more details. After you have corrected your URDF, try to publish robot description again. +190.07sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 +190.35sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/velocity_smoother/transition_event" +190.35sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/velocity_smoother/transition_event"[0m ×2 +190.35sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/speed_limit" +190.35sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/speed_limit"[0m ×2 +190.35sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/platform_velocity_controller_nav2/cmd_vel_unstamped" +190.35sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/platform_velocity_controller_nav2/cmd_vel_unstamped"[0m ×2 +190.36sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/plan_smoothed" +190.36sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/optimal_trajectory" +190.36sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/plan_smoothed"[0m ×2 +190.36sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/optimal_trajectory"[0m ×2 +190.36sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/odom_reliable" +190.36sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/robot_description_semantic" +190.36sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/odom" +190.36sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/odom_reliable"[0m ×2 +190.37sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/robot_description_semantic"[0m ×2 +190.37sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/odom"[0m ×2 +190.37sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/moveit_pro_ui/do_teleoperate/result" +190.37sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/moveit_pro_ui/do_teleoperate/goal" +190.37sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/moveit_pro_ui/do_teleoperate/feedback" +190.37sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/moveit_pro_ui/do_teleoperate/cancel" +190.37sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/moveit_pro_ui/do_teleoperate/result"[0m ×2 +190.37sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m ×2 +190.37sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m ×2 +190.37sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m ×2 +190.38sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/trajectories" +190.38sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/trajectories"[0m ×2 +190.44sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/monitored_planning_scene" +190.44sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/monitored_planning_scene"[0m ×2 +190.44sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/local_costmap/published_footprint" +190.44sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/local_costmap/published_footprint"[0m ×2 +190.45sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/local_costmap/obstacle_layer_updates" +190.45sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/local_costmap/obstacle_layer_updates"[0m ×2 +190.45sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/map" +190.45sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/map"[0m ×2 +190.45sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/local_costmap/obstacle_layer_raw_updates" +190.45sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/local_costmap/obstacle_layer_raw_updates"[0m ×2 +190.46sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/local_costmap/obstacle_layer_raw" +190.46sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/local_costmap/obstacle_layer" +190.46sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/local_costmap/obstacle_layer_raw"[0m ×2 +190.46sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/local_costmap/obstacle_layer"[0m ×2 +190.46sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/local_costmap/footprint" +190.46sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/local_costmap/costmap_updates" +190.46sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/local_costmap/costmap_raw" +190.46sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/local_costmap/costmap" +190.46sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/local_costmap/footprint"[0m ×2 +190.46sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/local_costmap/costmap_updates"[0m ×2 +190.46sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/local_costmap/costmap_raw"[0m ×2 +190.46sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/local_costmap/costmap"[0m ×2 +190.46sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_states" +190.46sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_states"[0m ×2 +190.47sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/imu_sensor_broadcaster/imu_reliable" +190.47sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/global_costmap/global_costmap/transition_event" +190.47sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/global_costmap/costmap_raw_updates" +190.47sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/imu_sensor_broadcaster/imu_reliable"[0m ×2 +190.47sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/planning_scene" +190.47sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/global_costmap/published_footprint" +190.47sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/global_costmap/costmap_raw" +190.47sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/global_costmap/global_costmap/transition_event"[0m ×2 +190.47sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/global_costmap/costmap_raw_updates"[0m ×2 +190.47sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/planning_scene"[0m ×2 +190.47sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/global_costmap/published_footprint"[0m ×2 +190.47sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/global_costmap/costmap_raw"[0m ×2 +190.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/planning_scene_world" +190.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/imu_sensor_broadcaster/imu" +190.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/planning_scene_world"[0m ×2 +190.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/imu_sensor_broadcaster/imu"[0m ×2 +190.47sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/collision_object" +190.47sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/transformed_global_plan" +190.47sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/cmd_vel_nav" +190.47sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/cmd_vel" +190.47sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/collision_object"[0m ×2 +190.47sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/local_costmap/costmap_raw_updates" +190.47sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/bt_navigator/transition_event" +190.47sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/transformed_global_plan"[0m ×2 +190.47sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/cmd_vel_nav"[0m ×2 +190.47sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/cmd_vel"[0m ×2 +190.47sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/local_costmap/costmap_raw_updates"[0m ×2 +190.47sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/bt_navigator/transition_event"[0m ×2 +190.48sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/bond" +190.48sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/waypoint_follower/transition_event" +190.48sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/behavior_server/transition_event" +190.48sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/bond"[0m ×2 +190.48sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/waypoint_follower/transition_event"[0m ×2 +190.48sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/behavior_server/transition_event"[0m ×2 +190.48sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/attached_collision_object" +190.91sINFOobjective_server_node[2026-06-03 13:57:12.313] [moveit_pro_license] [info] ×2 +190.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +190.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +190.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +190.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +190.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +190.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +190.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +190.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +190.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +190.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +190.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +190.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +190.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +190.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +190.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +190.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +190.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +190.97sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +190.99sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +191.17sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +191.17sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +191.20sINFOobjective_server_nodeLoaded robot model in 0.244742 seconds[0m ×2 +191.21sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/statistics" +191.22sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/failure_reason_collector" +191.22sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/description" +191.65sINFOcomponent_container_mtLoaded robot model in 0.446073 seconds[0m ×2 +191.85sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/visual_markers" +191.85sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/blackboard_contents" +191.85sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/behavior_tree_status" +192.25sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds ×3 +192.31sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers +192.39sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/transient_monitored_planning_scene_without_octomap" +192.64sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +192.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 +194.25sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers +194.25sINFOmove_groupMoveGroup debug mode is ON +194.45sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/trajectory_execution_event" +194.51sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - ExecuteTaskSolution * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - SetActiveControllerService * - URDFPlanningSceneCapability ********************************************************
! error	—	reset_planning_scene.xml	5.0s	36 warnings · 41 info
+ 0.00sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - ExecuteTaskSolution * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - SetActiveControllerService * - URDFPlanningSceneCapability ****************************************************** + 0.00sINFOmove_group ×8 + 0.00sINFOmove_group****************************************************** ×4 + 0.00sINFOmove_group* MoveGroup using: ×2 + 0.00sINFOmove_group* - apply_planning_scene_service ×2 + 0.00sINFOmove_group* - clear_octomap_service ×2 + 0.00sINFOmove_group* - ExecuteTaskSolution ×2 + 0.00sINFOmove_group* - get_group_urdf ×2 + 0.00sINFOmove_group* - load_geometry_from_file ×2 + 0.00sINFOmove_group* - get_planning_scene_service ×2 + 0.00sINFOmove_group* - kinematics_service ×2 + 0.00sINFOmove_group* - save_geometry_to_file ×2 + 0.00sINFOmove_group* - GetPlanningGroups ×2 + 0.00sINFOmove_group* - SetActiveControllerService ×2 + 0.00sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.00sINFOmove_group[0m ×2 + 0.00sINFOmove_group[92mYou can start planning now![0m ×2 + 0.04sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.04sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24
! error	—	teleoperate.xml	5.0s	56 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24 + 9.55sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 9.83sWARNros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 9.98sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 10.06sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 10.08sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 10.17sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 10.19sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 10.32sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 10.35sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 10.47sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2
! error	—	vector_subtrees_example.xml	5.0s	56 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24 + 4.55sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 4.83sWARNros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 4.98sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 5.06sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 5.08sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 5.17sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 5.19sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 5.32sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 5.35sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 5.47sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2
✓ passed	—	clear_snapshot.xml	8.2s	8 errors · 64 warnings · 652 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/2026-06-03-13-59-51-757718-1d07526de1e5-25073 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.63sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.64sINFOcontroller_managerupdate rate is 600 Hz + 1.64sINFOcontroller_managerOverruns handling is : enabled + 1.64sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.64sWARNcontroller_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. + 1.74sINFOros2_control_node-1process started with pid [25120] ×2 + 1.74sINFOmove_group-9process started with pid [25146] ×2 + 1.74sINFOparameter_manager_node-10process started with pid [25147] ×2 + 1.74sINFOwaypoint_manager_node-11process started with pid [25148] ×2 + 1.74sINFOmove_joint_resampler_node-12process started with pid [25149] ×2 + 1.74sINFOmove_end_effector_resampler_node-13process started with pid [25150] ×2 + 1.74sINFOobjective_server_node_main-14process started with pid [25151] ×2 + 1.74sINFOcomponent_container_mt-15process started with pid [25152] ×2 + 1.74sINFOexecute_objective_bridge-16process started with pid [25153] ×2 + 1.74sINFOui_teleop_bridge-17process started with pid [25154] ×2 + 1.74sINFOfoxglove_bridge-18process started with pid [25155] ×2 + 1.74sINFOtf2_web_republisher_node-19process started with pid [25174] ×2 + 1.74sINFOweb_video_server-20process started with pid [25269] ×2 + 1.75sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724674 ms (missed cycles : 2). + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [25121] ×2 + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [25122] ×2 + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [25123] ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [25124] ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [25126] ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [25128] ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [25131] ×2 + 1.77sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.77sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.77sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.77sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.77sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.78sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724674 ms (missed cycles : 2).[0m ×2 + 1.80sINFOcontroller_managerReceived robot description from topic. + 1.80sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.80sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.80sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.82sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.82sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.94sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@) + 1.94sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@)[0m ×2 + 1.96sINFOfoxglove_bridgeServer listening on port 3201 + 1.96sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 2.02sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/moveit_pro_ui/store_joint_state" + 2.02sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/moveit_pro_ui/store_joint_state"[0m ×2 + 2.03sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/move_joint" + 2.03sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/move_joint"[0m ×2 + 2.03sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat" + 2.03sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat"[0m ×2 + 2.03sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector" + 2.04sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/values" + 2.04sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector"[0m ×2 + 2.04sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/values"[0m ×2 + 2.05sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/statistics/full" + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 2.06sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/statistics/full"[0m ×2 + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 2.07sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 2.07sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 2.08sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/tf" + 2.08sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/tf"[0m ×2 + 2.10sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/diagnostics" + 2.10sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/introspection_data/values" + 2.11sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description" + 2.11sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/diagnostics"[0m ×2 + 2.11sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/introspection_data/values"[0m ×2 + 2.11sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description"[0m ×2 + 2.13sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/names" + 2.13sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/controller_manager/introspection_data/full" + 2.13sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/names"[0m ×2 + 2.13sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/controller_manager/introspection_data/full"[0m ×2 + 2.14sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/activity" + 2.14sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/activity"[0m ×2 + 2.14sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/names" + 2.14sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/agent_interface/move_joint" + 2.15sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static" + 2.15sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/rosout" + 2.15sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/names"[0m ×2 + 2.15sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/agent_interface/move_joint"[0m ×2 + 2.15sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static"[0m ×2 + 2.15sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/rosout"[0m ×2 + 2.16sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/parameter_events" + 2.16sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/parameter_events"[0m ×2 + 2.17sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/agent_interface/move_end_effector" + 2.17sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/agent_interface/move_end_effector"[0m ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340850 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340850 ms (missed cycles : 2).[0m ×2 + 3.04sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.04sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.05sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.05sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.08sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/robot_description_semantic" + 3.08sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/robot_description_semantic"[0m ×2 + 3.08sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/result" + 3.08sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 3.08sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 3.08sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/result"[0m ×2 + 3.08sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m ×2 + 3.08sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m ×2 + 3.10sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.11sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/planning_scene_world" + 3.11sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/planning_scene_world"[0m ×2 + 3.14sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene" + 3.14sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene"[0m ×2 + 3.14sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/joint_states" + 3.14sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal" + 3.14sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/joint_states"[0m ×2 + 3.14sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m ×2 + 3.15sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object" + 3.15sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object"[0m ×2 + 3.15sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object" + 3.15sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene" + 3.15sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object"[0m ×2 + 3.15sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene"[0m ×2 + 4.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.30sINFOobjective_server_node[2026-06-03 13:59:56.841] [moveit_pro_license] [info] ×2 + 4.30sINFOobjective_server_node************************************************* ×4 + 4.30sINFOobjective_server_node* MoveIt Pro License ×2 + 4.30sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.40sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/statistics" + 4.40sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/statistics"[0m ×2 + 4.40sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/failure_reason_collector" + 4.40sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/failure_reason_collector"[0m ×2 + 4.41sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/description" + 4.41sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/description"[0m ×2 + 4.51sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.51sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.51sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.51sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.51sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.51sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.51sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.51sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.51sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.51sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.51sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.51sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725447 ms (missed cycles : 2). + 4.51sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725447 ms (missed cycles : 2).[0m ×2 + 4.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.62sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.62sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.62sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.62sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.62sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 4.62sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 4.64sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 4.64sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' ×2 + 4.64sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×4 + 4.65sINFOforce_torque_sensor_broadcasterconfigure successful + 4.65sINFOros2_control_nodeconfigure successful[0m ×2 + 4.65sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.65sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.66sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 4.67sINFOobjective_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 + 4.67sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.69sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.69sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.69sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.69sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.69sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.69sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.69sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.69sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.95sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.95sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.95sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.95sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.95sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 4.95sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 5.00sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/points" + 5.00sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/points"[0m ×2 + 5.01sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/depth" + 5.01sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/wrist_camera/color" + 5.01sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/depth"[0m ×2 + 5.01sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/wrist_camera/color"[0m ×2 + 5.02sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 5.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 5.03sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.03sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.03sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.03sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.03sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.03sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.03sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/visual_markers" + 5.03sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/visual_markers"[0m ×2 + 5.03sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.03sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.03sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/transient_monitored_planning_scene_without_octomap" + 5.03sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/scene_camera/depth" + 5.03sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/color" + 5.03sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.03sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.03sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/transient_monitored_planning_scene_without_octomap"[0m ×2 + 5.03sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/scene_camera/depth"[0m ×2 + 5.03sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/color"[0m ×2 + 5.04sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.04sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.04sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/scene_camera/camera_info" + 5.04sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/scene_camera/points" + 5.04sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 5.04sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/scene_camera/camera_info"[0m ×2 + 5.04sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/scene_camera/points"[0m ×2 + 5.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 5.04sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 5.04sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 5.05sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/force_torque_sensor_broadcaster/transition_event" + 5.05sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/wrist_camera/camera_info" + 5.05sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_trajectory_controller/transition_event" + 5.05sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/blackboard_contents" + 5.05sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 5.05sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/wrist_camera/camera_info"[0m ×2 + 5.05sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 5.05sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/blackboard_contents"[0m ×2 + 5.05sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/behavior_tree_status" + 5.05sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/force_torque_sensor_broadcaster/wrench" + 5.05sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/behavior_tree_status"[0m ×2 + 5.06sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 5.09sWARNobjective_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 + 5.23sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 5.29sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 5.29sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 5.36sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.36sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.36sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.36sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.37sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 5.37sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 5.37sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 5.37sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 5.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 5.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 5.38sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 5.38sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 5.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 25124] ×2 + 5.42sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 5.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 5.42sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.42sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.42sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 5.42sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 5.42sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 5.42sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.42sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.42sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 5.42sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 5.42sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 5.43sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.43sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 5.43sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.44sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 5.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 5.48sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796346 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796346 ms (missed cycles : 3).[0m ×2 + 5.54sINFOmove_group ×4 + 5.54sINFOmove_group[92mYou can start planning now![0m ×2 + 5.73sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.73sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.73sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.73sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.73sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 5.73sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 5.74sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.74sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 25123] ×2 + 5.77sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 5.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 5.78sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.78sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.78sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun might occur, Total time : 3981.553 us (Expected < 1666.667 us) --> Read time : 214.060 us, Update time : 3262.168 us (Switch time : 3180.864 us (Switch chained mode time : 0.370 us, perform mode change time : 2.150 us, Activation time : 3170.533 us, Deactivation time : 0.340 us)), Write time : 505.325 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 3981.553 us (Expected < 1666.667 us) --> Read time : 214.060 us, Update time : 3262.168 us (Switch time : 3180.864 us (Switch chained mode time : 0.370 us, perform mode change time : 2.150 us, Activation time : 3170.533 us, Deactivation time : 0.340 us)), Write time : 505.325 us[0m ×2 + 5.79sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 5.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 5.84sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/trajectory_execution_event" + 5.84sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/robotiq_gripper_controller/transition_event" + 5.84sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/trajectory_execution_event"[0m ×2 + 5.84sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 5.84sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_controller/speed_scaling_input" + 5.84sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 5.85sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_controller/joint_trajectory" + 5.85sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 5.85sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/controller_state" + 5.85sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_state_broadcaster/transition_event" + 5.85sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 5.86sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 5.86sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/dynamic_joint_states" + 5.86sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/dynamic_joint_states"[0m ×2 + 6.12sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.12sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.12sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.12sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 25122] ×2 + 6.24sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 6.24sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 6.29sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 6.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 6.29sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.29sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.29sINFOros2_control_node[2026-06-03 13:59:58.832] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.29sINFOros2_control_node[2026-06-03 13:59:58.832] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.30sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 6.33sINFOros2_control_node[2026-06-03 13:59:58.866] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.33sINFOros2_control_node[2026-06-03 13:59:58.866] [info] Controller state will be published at 50 Hz. ×2 + 6.33sINFOros2_control_node[2026-06-03 13:59:58.872] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.58sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_trajectory_admittance_controller/transition_event" + 6.58sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_trajectory_admittance_controller/controller_state" + 6.58sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 6.58sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 6.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 25126] ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540280 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540280 ms (missed cycles : 3).[0m ×2 + 6.65sWARNspawner_force_torque_sensor_broadcasterController already loaded, skipping load_controller + 6.65sWARNros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterController already loaded, skipping load_controller ×2 + 6.65sERRORcontroller_managerController 'force_torque_sensor_broadcaster' can not be configured from 'active' state. + 6.65sERRORros2_control_nodeController 'force_torque_sensor_broadcaster' can not be configured from 'active' state.[0m ×2 + 6.65sERRORspawner_force_torque_sensor_broadcasterFailed to configure controller + 6.65sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterFailed to configure controller ×2 + 6.72sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 6.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 6.99sWARNcontroller_managerOverrun might occur, Total time : 1819.268 us (Expected < 1666.667 us) --> Read time : 322.495 us, Update time : 110.636 us, Write time : 1386.137 us + 6.99sWARNros2_control_nodeOverrun might occur, Total time : 1819.268 us (Expected < 1666.667 us) --> Read time : 322.495 us, Update time : 110.636 us, Write time : 1386.137 us[0m ×2 + 7.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[ros2run]: Process exited with failure 1 ×2 + 7.07sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.07sINFOcontroller_managerLoading controller 'velocity_force_controller' + 7.07sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.07sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 7.09sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has died [pid 25121, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. ×2 + 7.17sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 7.17sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 7.22sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 7.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 7.22sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 7.22sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 7.26sINFOros2_control_node[2026-06-03 13:59:59.797] [info] Controller state will be published at 10 Hz. ×2 + 7.26sINFOros2_control_node[2026-06-03 13:59:59.798] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780495199.92688251 seconds. ×3 + 7.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780495199.93748236 seconds ×3 + 7.53sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 7.53sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 7.53sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 7.53sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 7.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 25128] ×2 + 7.61sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 7.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 7.66sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/velocity_force_controller/controller_state" + 7.66sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/velocity_force_controller/controller_state"[0m ×2 + 7.66sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/velocity_force_controller/command" + 7.66sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_velocity_controller/transition_event" + 7.66sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 7.66sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/transition_event" + 7.66sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/velocity_force_controller/command"[0m ×2 + 7.66sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 7.66sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/transition_event"[0m ×2 + 7.66sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 7.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 7.66sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 7.67sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/agent_event" + 7.67sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/agent_event"[0m ×2 + 7.71sINFOros2_control_node[2026-06-03 14:00:00.247] [info] Controller state will be published at 20 Hz. ×2 + 7.71sINFOros2_control_node[2026-06-03 14:00:00.248] [info] JointVelocityController 'on_configure' succeeded. ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272356 ms (missed cycles : 3). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272356 ms (missed cycles : 3).[0m ×2 + 7.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780495200.50507331 seconds. ×3 + 7.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 25131] ×2 + 8.28sINFOfoxglove_bridgeRemoving channel 63 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 8.28sINFOfoxglove_bridgeRemoving channel 63 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 8.29sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_velocity_controller/controller_state" + 8.29sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_velocity_controller/command" + 8.29sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 8.29sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_velocity_controller/command"[0m ×2 + 8.50sWARNcontroller_managerOverrun might occur, Total time : 1735.604 us (Expected < 1666.667 us) --> Read time : 711.374 us, Update time : 89.974 us, Write time : 934.256 us + 8.50sWARNros2_control_nodeOverrun might occur, Total time : 1735.604 us (Expected < 1666.667 us) --> Read time : 711.374 us, Update time : 89.974 us, Write time : 934.256 us[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880889 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880889 ms (missed cycles : 2).[0m ×2 + 9.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780495201.56525326 seconds ×3 + 9.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 9.60sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 9.60sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 10.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 10.89sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 10.90sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 11.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 11.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3
✓ passed	—	vector_subtrees_example.xml	0.7s	45 warnings · 125 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1735.604 us (Expected < 1666.667 us) --> Read time : 711.374 us, Update time : 89.974 us, Write time : 934.256 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1735.604 us (Expected < 1666.667 us) --> Read time : 711.374 us, Update time : 89.974 us, Write time : 934.256 us[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880889 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880889 ms (missed cycles : 2).[0m ×2 + 0.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780495201.56525326 seconds ×3 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 1.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 2.39sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.57sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 4.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.13sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 4.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.13sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.60sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.60sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.74sINFOobjective_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 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.87sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.87sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.69sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.69sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.75sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 7.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.37sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 7.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.40sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 7.40sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2
✓ passed	—	reset_planning_scene.xml	0.6s	48 warnings · 132 info
+ 0.00sINFOros2_control_node[2026-06-03 14:00:00.247] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-03 14:00:00.248] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272356 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272356 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780495200.50507331 seconds. ×3 + 0.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 25131] ×2 + 0.58sINFOfoxglove_bridgeRemoving channel 63 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.58sINFOfoxglove_bridgeRemoving channel 63 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 0.58sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_velocity_controller/controller_state" + 0.58sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_velocity_controller/command" + 0.58sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 0.58sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_velocity_controller/command"[0m ×2 + 0.80sWARNcontroller_managerOverrun might occur, Total time : 1735.604 us (Expected < 1666.667 us) --> Read time : 711.374 us, Update time : 89.974 us, Write time : 934.256 us + 0.80sWARNros2_control_nodeOverrun might occur, Total time : 1735.604 us (Expected < 1666.667 us) --> Read time : 711.374 us, Update time : 89.974 us, Write time : 934.256 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880889 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880889 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780495201.56525326 seconds ×3 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 1.90sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 1.90sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 4.36sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 4.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.92sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 4.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.93sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 5.40sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 5.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 5.54sINFOobjective_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 + 5.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.65sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 5.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.66sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 5.66sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 6.49sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 6.83sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 7.53sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 7.55sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2
− skipped	—	addtovector.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	addtovector.xml	0.0s	9 warnings · 208 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/2026-06-03-13-59-51-757718-1d07526de1e5-25073 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.63sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.64sINFOcontroller_managerupdate rate is 600 Hz + 1.64sINFOcontroller_managerOverruns handling is : enabled + 1.64sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.64sWARNcontroller_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. + 1.74sINFOros2_control_node-1process started with pid [25120] ×2 + 1.74sINFOmove_group-9process started with pid [25146] ×2 + 1.74sINFOparameter_manager_node-10process started with pid [25147] ×2 + 1.74sINFOwaypoint_manager_node-11process started with pid [25148] ×2 + 1.74sINFOmove_joint_resampler_node-12process started with pid [25149] ×2 + 1.74sINFOmove_end_effector_resampler_node-13process started with pid [25150] ×2 + 1.74sINFOobjective_server_node_main-14process started with pid [25151] ×2 + 1.74sINFOcomponent_container_mt-15process started with pid [25152] ×2 + 1.74sINFOexecute_objective_bridge-16process started with pid [25153] ×2 + 1.74sINFOui_teleop_bridge-17process started with pid [25154] ×2 + 1.74sINFOfoxglove_bridge-18process started with pid [25155] ×2 + 1.74sINFOtf2_web_republisher_node-19process started with pid [25174] ×2 + 1.74sINFOweb_video_server-20process started with pid [25269] ×2 + 1.75sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724674 ms (missed cycles : 2). + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [25121] ×2 + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [25122] ×2 + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [25123] ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [25124] ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [25126] ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [25128] ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [25131] ×2 + 1.77sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.77sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.77sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.77sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.77sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.78sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724674 ms (missed cycles : 2).[0m ×2 + 1.80sINFOcontroller_managerReceived robot description from topic. + 1.80sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.80sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.80sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.82sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.82sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.94sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@) + 1.94sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@)[0m ×2 + 1.96sINFOfoxglove_bridgeServer listening on port 3201 + 1.96sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 2.02sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/moveit_pro_ui/store_joint_state" + 2.02sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/moveit_pro_ui/store_joint_state"[0m ×2 + 2.03sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/move_joint" + 2.03sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/move_joint"[0m ×2 + 2.03sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat" + 2.03sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat"[0m ×2 + 2.03sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector" + 2.04sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/values" + 2.04sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector"[0m ×2 + 2.04sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/values"[0m ×2 + 2.05sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/statistics/full" + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 2.06sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/statistics/full"[0m ×2 + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 2.07sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 2.07sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 2.08sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/tf" + 2.08sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/tf"[0m ×2 + 2.10sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/diagnostics" + 2.10sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/introspection_data/values" + 2.11sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description" + 2.11sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/diagnostics"[0m ×2 + 2.11sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/introspection_data/values"[0m ×2 + 2.11sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description"[0m ×2 + 2.13sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/names" + 2.13sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/controller_manager/introspection_data/full" + 2.13sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/names"[0m ×2 + 2.13sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/controller_manager/introspection_data/full"[0m ×2 + 2.14sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/activity" + 2.14sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/activity"[0m ×2 + 2.14sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/names" + 2.14sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/agent_interface/move_joint" + 2.15sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static" + 2.15sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/rosout" + 2.15sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/names"[0m ×2 + 2.15sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/agent_interface/move_joint"[0m ×2 + 2.15sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static"[0m ×2 + 2.15sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/rosout"[0m ×2 + 2.16sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/parameter_events" + 2.16sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/parameter_events"[0m ×2 + 2.17sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/agent_interface/move_end_effector" + 2.17sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/agent_interface/move_end_effector"[0m ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340850 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340850 ms (missed cycles : 2).[0m ×2 + 3.04sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.04sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.05sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.05sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.08sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/robot_description_semantic" + 3.08sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/robot_description_semantic"[0m ×2 + 3.08sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/result" + 3.08sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 3.08sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 3.08sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/result"[0m ×2 + 3.08sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m ×2 + 3.08sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m ×2 + 3.10sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.11sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/planning_scene_world" + 3.11sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/planning_scene_world"[0m ×2 + 3.14sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene" + 3.14sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene"[0m ×2 + 3.14sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/joint_states" + 3.14sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal" + 3.14sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/joint_states"[0m ×2 + 3.14sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m ×2 + 3.15sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object" + 3.15sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object"[0m ×2 + 3.15sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object" + 3.15sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene" + 3.15sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object"[0m ×2 + 3.15sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene"[0m ×2
− skipped	—	createvector.xml	0.0s	8 errors · 45 warnings · 214 info
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 25122] ×2 + 0.12sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 0.12sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 0.17sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 0.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.17sINFOros2_control_node[2026-06-03 13:59:58.832] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.17sINFOros2_control_node[2026-06-03 13:59:58.832] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.20sINFOros2_control_node[2026-06-03 13:59:58.866] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.21sINFOros2_control_node[2026-06-03 13:59:58.866] [info] Controller state will be published at 50 Hz. ×2 + 0.21sINFOros2_control_node[2026-06-03 13:59:58.872] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.46sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_trajectory_admittance_controller/transition_event" + 0.46sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.46sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 0.46sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 25126] ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540280 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540280 ms (missed cycles : 3).[0m ×2 + 0.53sWARNspawner_force_torque_sensor_broadcasterController already loaded, skipping load_controller + 0.53sWARNros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterController already loaded, skipping load_controller ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.53sERRORcontroller_managerController 'force_torque_sensor_broadcaster' can not be configured from 'active' state. + 0.53sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.53sERRORros2_control_nodeController 'force_torque_sensor_broadcaster' can not be configured from 'active' state.[0m ×2 + 0.53sERRORspawner_force_torque_sensor_broadcasterFailed to configure controller + 0.53sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterFailed to configure controller ×2 + 0.60sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.64sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.87sWARNcontroller_managerOverrun might occur, Total time : 1819.268 us (Expected < 1666.667 us) --> Read time : 322.495 us, Update time : 110.636 us, Write time : 1386.137 us + 0.87sWARNros2_control_nodeOverrun might occur, Total time : 1819.268 us (Expected < 1666.667 us) --> Read time : 322.495 us, Update time : 110.636 us, Write time : 1386.137 us[0m ×2 + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[ros2run]: Process exited with failure 1 ×2 + 0.95sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.95sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.95sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.97sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has died [pid 25121, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. ×2 + 1.05sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 1.05sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 1.10sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.14sINFOros2_control_node[2026-06-03 13:59:59.797] [info] Controller state will be published at 10 Hz. ×2 + 1.14sINFOros2_control_node[2026-06-03 13:59:59.798] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780495199.92688251 seconds. ×3 + 1.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780495199.93748236 seconds ×3 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 25128] ×2 + 1.49sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 1.49sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 1.54sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/velocity_force_controller/controller_state" + 1.54sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/velocity_force_controller/controller_state"[0m ×2 + 1.54sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/velocity_force_controller/command" + 1.54sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_velocity_controller/transition_event" + 1.54sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.54sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/transition_event" + 1.54sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/velocity_force_controller/command"[0m ×2 + 1.54sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 1.54sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/transition_event"[0m ×2 + 1.54sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.54sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.55sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/agent_event" + 1.55sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/agent_event"[0m ×2 + 1.59sINFOros2_control_node[2026-06-03 14:00:00.247] [info] Controller state will be published at 20 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-03 14:00:00.248] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272356 ms (missed cycles : 3). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272356 ms (missed cycles : 3).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780495200.50507331 seconds. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 25131] ×2 + 2.16sINFOfoxglove_bridgeRemoving channel 63 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.16sINFOfoxglove_bridgeRemoving channel 63 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.16sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_velocity_controller/controller_state" + 2.16sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_velocity_controller/command" + 2.16sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 2.17sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_velocity_controller/command"[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 1735.604 us (Expected < 1666.667 us) --> Read time : 711.374 us, Update time : 89.974 us, Write time : 934.256 us + 2.38sWARNros2_control_nodeOverrun might occur, Total time : 1735.604 us (Expected < 1666.667 us) --> Read time : 711.374 us, Update time : 89.974 us, Write time : 934.256 us[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880889 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880889 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780495201.56525326 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 3.48sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 4.77sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 5.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 5.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 5.95sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 5.95sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 6.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 6.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.51sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 6.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.51sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 6.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 6.98sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 6.98sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 41 info
+ 0.00sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - ExecuteTaskSolution * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - SetActiveControllerService * - URDFPlanningSceneCapability ****************************************************** + 0.00sINFOmove_group ×8 + 0.00sINFOmove_group****************************************************** ×4 + 0.00sINFOmove_group* MoveGroup using: ×2 + 0.00sINFOmove_group* - apply_planning_scene_service ×2 + 0.00sINFOmove_group* - clear_octomap_service ×2 + 0.00sINFOmove_group* - ExecuteTaskSolution ×2 + 0.00sINFOmove_group* - get_group_urdf ×2 + 0.00sINFOmove_group* - load_geometry_from_file ×2 + 0.00sINFOmove_group* - get_planning_scene_service ×2 + 0.00sINFOmove_group* - kinematics_service ×2 + 0.00sINFOmove_group* - save_geometry_to_file ×2 + 0.00sINFOmove_group* - GetPlanningGroups ×2 + 0.00sINFOmove_group* - SetActiveControllerService ×2 + 0.00sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.00sINFOmove_group[0m ×2 + 0.00sINFOmove_group[92mYou can start planning now![0m ×2 + 0.04sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.04sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	8 errors · 45 warnings · 214 info
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 25122] ×2 + 0.12sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 0.12sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 0.17sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 0.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.17sINFOros2_control_node[2026-06-03 13:59:58.832] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.17sINFOros2_control_node[2026-06-03 13:59:58.832] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.20sINFOros2_control_node[2026-06-03 13:59:58.866] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.21sINFOros2_control_node[2026-06-03 13:59:58.866] [info] Controller state will be published at 50 Hz. ×2 + 0.21sINFOros2_control_node[2026-06-03 13:59:58.872] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.46sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_trajectory_admittance_controller/transition_event" + 0.46sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.46sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 0.46sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 25126] ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540280 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540280 ms (missed cycles : 3).[0m ×2 + 0.53sWARNspawner_force_torque_sensor_broadcasterController already loaded, skipping load_controller + 0.53sWARNros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterController already loaded, skipping load_controller ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.53sERRORcontroller_managerController 'force_torque_sensor_broadcaster' can not be configured from 'active' state. + 0.53sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.53sERRORros2_control_nodeController 'force_torque_sensor_broadcaster' can not be configured from 'active' state.[0m ×2 + 0.53sERRORspawner_force_torque_sensor_broadcasterFailed to configure controller + 0.53sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterFailed to configure controller ×2 + 0.60sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.64sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.87sWARNcontroller_managerOverrun might occur, Total time : 1819.268 us (Expected < 1666.667 us) --> Read time : 322.495 us, Update time : 110.636 us, Write time : 1386.137 us + 0.87sWARNros2_control_nodeOverrun might occur, Total time : 1819.268 us (Expected < 1666.667 us) --> Read time : 322.495 us, Update time : 110.636 us, Write time : 1386.137 us[0m ×2 + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[ros2run]: Process exited with failure 1 ×2 + 0.95sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.95sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.95sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.97sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has died [pid 25121, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. ×2 + 1.05sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 1.05sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 1.10sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.14sINFOros2_control_node[2026-06-03 13:59:59.797] [info] Controller state will be published at 10 Hz. ×2 + 1.14sINFOros2_control_node[2026-06-03 13:59:59.798] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780495199.92688251 seconds. ×3 + 1.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780495199.93748236 seconds ×3 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 25128] ×2 + 1.49sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 1.49sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 1.54sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/velocity_force_controller/controller_state" + 1.54sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/velocity_force_controller/controller_state"[0m ×2 + 1.54sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/velocity_force_controller/command" + 1.54sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_velocity_controller/transition_event" + 1.54sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.54sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/transition_event" + 1.54sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/velocity_force_controller/command"[0m ×2 + 1.54sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 1.54sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/transition_event"[0m ×2 + 1.54sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.54sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.55sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/agent_event" + 1.55sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/agent_event"[0m ×2 + 1.59sINFOros2_control_node[2026-06-03 14:00:00.247] [info] Controller state will be published at 20 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-03 14:00:00.248] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272356 ms (missed cycles : 3). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272356 ms (missed cycles : 3).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780495200.50507331 seconds. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 25131] ×2 + 2.16sINFOfoxglove_bridgeRemoving channel 63 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.16sINFOfoxglove_bridgeRemoving channel 63 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.16sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_velocity_controller/controller_state" + 2.16sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_velocity_controller/command" + 2.16sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 2.17sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_velocity_controller/command"[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 1735.604 us (Expected < 1666.667 us) --> Read time : 711.374 us, Update time : 89.974 us, Write time : 934.256 us + 2.38sWARNros2_control_nodeOverrun might occur, Total time : 1735.604 us (Expected < 1666.667 us) --> Read time : 711.374 us, Update time : 89.974 us, Write time : 934.256 us[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880889 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880889 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780495201.56525326 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 3.48sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 4.77sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 5.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 5.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 5.95sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 5.95sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 6.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 6.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.51sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 6.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.51sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 6.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 6.98sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 6.98sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2
− skipped	—	createvector.xml	0.0s	21 warnings · 41 info
+ 0.00sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - ExecuteTaskSolution * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - SetActiveControllerService * - URDFPlanningSceneCapability ****************************************************** + 0.00sINFOmove_group ×8 + 0.00sINFOmove_group****************************************************** ×4 + 0.00sINFOmove_group* MoveGroup using: ×2 + 0.00sINFOmove_group* - apply_planning_scene_service ×2 + 0.00sINFOmove_group* - clear_octomap_service ×2 + 0.00sINFOmove_group* - ExecuteTaskSolution ×2 + 0.00sINFOmove_group* - get_group_urdf ×2 + 0.00sINFOmove_group* - load_geometry_from_file ×2 + 0.00sINFOmove_group* - get_planning_scene_service ×2 + 0.00sINFOmove_group* - kinematics_service ×2 + 0.00sINFOmove_group* - save_geometry_to_file ×2 + 0.00sINFOmove_group* - GetPlanningGroups ×2 + 0.00sINFOmove_group* - SetActiveControllerService ×2 + 0.00sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.00sINFOmove_group[0m ×2 + 0.00sINFOmove_group[92mYou can start planning now![0m ×2 + 0.04sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.04sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14
− skipped	—	find_nearest_pose_in_path.xml	0.0s	21 warnings · 41 info
+ 0.00sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - ExecuteTaskSolution * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - SetActiveControllerService * - URDFPlanningSceneCapability ****************************************************** + 0.00sINFOmove_group ×8 + 0.00sINFOmove_group****************************************************** ×4 + 0.00sINFOmove_group* MoveGroup using: ×2 + 0.00sINFOmove_group* - apply_planning_scene_service ×2 + 0.00sINFOmove_group* - clear_octomap_service ×2 + 0.00sINFOmove_group* - ExecuteTaskSolution ×2 + 0.00sINFOmove_group* - get_group_urdf ×2 + 0.00sINFOmove_group* - load_geometry_from_file ×2 + 0.00sINFOmove_group* - get_planning_scene_service ×2 + 0.00sINFOmove_group* - kinematics_service ×2 + 0.00sINFOmove_group* - save_geometry_to_file ×2 + 0.00sINFOmove_group* - GetPlanningGroups ×2 + 0.00sINFOmove_group* - SetActiveControllerService ×2 + 0.00sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.00sINFOmove_group[0m ×2 + 0.00sINFOmove_group[92mYou can start planning now![0m ×2 + 0.04sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.04sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14
− skipped	—	find_nearest_pose_in_path.xml	0.0s	8 errors · 45 warnings · 214 info
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 25122] ×2 + 0.12sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 0.12sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 0.17sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 0.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.17sINFOros2_control_node[2026-06-03 13:59:58.832] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.17sINFOros2_control_node[2026-06-03 13:59:58.832] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.20sINFOros2_control_node[2026-06-03 13:59:58.866] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.21sINFOros2_control_node[2026-06-03 13:59:58.866] [info] Controller state will be published at 50 Hz. ×2 + 0.21sINFOros2_control_node[2026-06-03 13:59:58.872] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.46sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_trajectory_admittance_controller/transition_event" + 0.46sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.46sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 0.46sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 25126] ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540280 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540280 ms (missed cycles : 3).[0m ×2 + 0.53sWARNspawner_force_torque_sensor_broadcasterController already loaded, skipping load_controller + 0.53sWARNros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterController already loaded, skipping load_controller ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.53sERRORcontroller_managerController 'force_torque_sensor_broadcaster' can not be configured from 'active' state. + 0.53sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.53sERRORros2_control_nodeController 'force_torque_sensor_broadcaster' can not be configured from 'active' state.[0m ×2 + 0.53sERRORspawner_force_torque_sensor_broadcasterFailed to configure controller + 0.53sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterFailed to configure controller ×2 + 0.60sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.64sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.87sWARNcontroller_managerOverrun might occur, Total time : 1819.268 us (Expected < 1666.667 us) --> Read time : 322.495 us, Update time : 110.636 us, Write time : 1386.137 us + 0.87sWARNros2_control_nodeOverrun might occur, Total time : 1819.268 us (Expected < 1666.667 us) --> Read time : 322.495 us, Update time : 110.636 us, Write time : 1386.137 us[0m ×2 + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[ros2run]: Process exited with failure 1 ×2 + 0.95sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.95sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.95sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.97sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has died [pid 25121, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. ×2 + 1.05sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 1.05sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 1.10sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.14sINFOros2_control_node[2026-06-03 13:59:59.797] [info] Controller state will be published at 10 Hz. ×2 + 1.14sINFOros2_control_node[2026-06-03 13:59:59.798] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780495199.92688251 seconds. ×3 + 1.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780495199.93748236 seconds ×3 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 25128] ×2 + 1.49sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 1.49sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 1.54sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/velocity_force_controller/controller_state" + 1.54sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/velocity_force_controller/controller_state"[0m ×2 + 1.54sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/velocity_force_controller/command" + 1.54sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_velocity_controller/transition_event" + 1.54sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.54sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/transition_event" + 1.54sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/velocity_force_controller/command"[0m ×2 + 1.54sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 1.54sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/transition_event"[0m ×2 + 1.54sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.54sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.55sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/agent_event" + 1.55sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/agent_event"[0m ×2 + 1.59sINFOros2_control_node[2026-06-03 14:00:00.247] [info] Controller state will be published at 20 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-03 14:00:00.248] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272356 ms (missed cycles : 3). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272356 ms (missed cycles : 3).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780495200.50507331 seconds. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 25131] ×2 + 2.16sINFOfoxglove_bridgeRemoving channel 63 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.16sINFOfoxglove_bridgeRemoving channel 63 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.16sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_velocity_controller/controller_state" + 2.16sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_velocity_controller/command" + 2.16sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 2.17sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_velocity_controller/command"[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 1735.604 us (Expected < 1666.667 us) --> Read time : 711.374 us, Update time : 89.974 us, Write time : 934.256 us + 2.38sWARNros2_control_nodeOverrun might occur, Total time : 1735.604 us (Expected < 1666.667 us) --> Read time : 711.374 us, Update time : 89.974 us, Write time : 934.256 us[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880889 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880889 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780495201.56525326 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 3.48sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 4.77sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 5.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 5.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 5.95sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 5.95sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 6.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 6.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.51sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 6.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.51sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 6.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 6.98sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 6.98sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2
− skipped	—	request_teleoperation.xml	0.0s	42 warnings · 132 info
+ 0.00sINFOros2_control_node[2026-06-03 14:00:00.247] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-03 14:00:00.248] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272356 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272356 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780495200.50507331 seconds. ×3 + 0.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 25131] ×2 + 0.58sINFOfoxglove_bridgeRemoving channel 63 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.58sINFOfoxglove_bridgeRemoving channel 63 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 0.58sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_velocity_controller/controller_state" + 0.58sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_velocity_controller/command" + 0.58sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 0.58sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_velocity_controller/command"[0m ×2 + 0.80sWARNcontroller_managerOverrun might occur, Total time : 1735.604 us (Expected < 1666.667 us) --> Read time : 711.374 us, Update time : 89.974 us, Write time : 934.256 us + 0.80sWARNros2_control_nodeOverrun might occur, Total time : 1735.604 us (Expected < 1666.667 us) --> Read time : 711.374 us, Update time : 89.974 us, Write time : 934.256 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880889 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880889 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780495201.56525326 seconds ×3 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 1.90sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 1.90sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 4.36sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 4.36sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 4.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.92sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 4.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.93sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 5.40sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 5.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 5.54sINFOobjective_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 + 5.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.65sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 5.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.66sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 5.66sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 6.49sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 6.83sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2
− skipped	—	teleoperate.xml	0.0s	45 warnings · 111 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1735.604 us (Expected < 1666.667 us) --> Read time : 711.374 us, Update time : 89.974 us, Write time : 934.256 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1735.604 us (Expected < 1666.667 us) --> Read time : 711.374 us, Update time : 89.974 us, Write time : 934.256 us[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880889 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880889 ms (missed cycles : 2).[0m ×2 + 0.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780495201.56525326 seconds ×3 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 1.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 2.39sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.57sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 4.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.13sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 4.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.13sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.60sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.60sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.74sINFOobjective_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 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.87sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.87sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.69sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.69sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.75sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	37 warnings
+ 0.00sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.02sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.02sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.08sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.10sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.18sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.21sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.33sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.37sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.49sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	39 warnings · 122 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 1.86sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.60sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2
− skipped	—	wait_for_trajectory_approval_if_user_available.xml	0.0s	39 warnings · 122 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 1.86sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.60sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco

1 fail1 pass

! error	—	reset_mujoco_sim.xml	5.0s	36 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24
✓ passed	—	reset_mujoco_sim.xml	0.6s	45 warnings · 122 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 1.86sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.60sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.195819 ms (missed cycles : 7). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.195819 ms (missed cycles : 7).[0m ×2 + 7.36sWARNcontroller_managerOverrun might occur, Total time : 2741.403 us (Expected < 1666.667 us) --> Read time : 1598.657 us, Update time : 164.218 us, Write time : 978.528 us + 7.36sWARNros2_control_nodeOverrun might occur, Total time : 2741.403 us (Expected < 1666.667 us) --> Read time : 1598.657 us, Update time : 164.218 us, Write time : 978.528 us[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization

1 fail5 skip

! error	—	interactive_marker_visualization_example.xml	5.0s	52 warnings
+ 0.00sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.02sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.02sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24 + 0.08sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.10sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.18sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.21sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.33sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.37sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.49sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	39 warnings · 122 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 1.86sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.60sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2
− skipped	—	interactive_marker_visualization.xml	0.0s	37 warnings
+ 0.00sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.02sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.02sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.08sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.10sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.18sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.21sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.33sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.37sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.49sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2
− skipped	—	interactive_marker_visualization.xml	0.0s	39 warnings · 122 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 1.86sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.60sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14
− skipped	—	visualize_tf.xml	0.0s	39 warnings · 122 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 1.86sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.60sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives

31 pass54 skip

✓ passed	Move Flasks to Burners	move_flasks_to_burners.xml	42.9s	273 warnings · 280 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780495302.99235487 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 1921.333 us (Expected < 1666.667 us) --> Read time : 884.233 us, Update time : 65.703 us, Write time : 971.397 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 1921.333 us (Expected < 1666.667 us) --> Read time : 884.233 us, Update time : 65.703 us, Write time : 971.397 us[0m ×2 + 0.35sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/masks_visualization" + 0.35sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/masks_visualization"[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.242452 ms (missed cycles : 7). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.242452 ms (missed cycles : 7).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780495303.59481454 seconds. ×3 + 0.86sINFOfoxglove_bridgeRemoving channel 73 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.86sINFOfoxglove_bridgeRemoving channel 73 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 0.86sINFOfoxglove_bridgeRemoving channel 72 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.86sINFOfoxglove_bridgeRemoving channel 72 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.17sINFOobjective_server_node[0;93m2026-06-03 14:01:44.163239568 [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 + 1.17sINFOobjective_server_node[0;93m2026-06-03 14:01:44.163281670 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.34sWARNcontroller_managerOverrun might occur, Total time : 9906.402 us (Expected < 1666.667 us) --> Read time : 203.690 us, Update time : 9127.704 us, Write time : 575.008 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 9906.402 us (Expected < 1666.667 us) --> Read time : 203.690 us, Update time : 9127.704 us, Write time : 575.008 us[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415328 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415328 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_node[0;93m2026-06-03 14:01:44.652506694 [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;93m2026-06-03 14:01:44.652548256 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.78sINFOobjective_server_node[0;93m2026-06-03 14:01:44.772553928 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-03 14:01:44.775899751 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-03 14:01:44.775943843 [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;93m2026-06-03 14:01:45.141198233 [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 + 2.16sINFOobjective_server_node[0;93m2026-06-03 14:01:45.156495194 [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 + 2.16sINFOobjective_server_node[0;93m2026-06-03 14:01:45.156531356 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 4894.377 us (Expected < 1666.667 us) --> Read time : 192.640 us, Update time : 4169.572 us, Write time : 532.165 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 4894.377 us (Expected < 1666.667 us) --> Read time : 192.640 us, Update time : 4169.572 us, Write time : 532.165 us[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683903 ms (missed cycles : 5). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683903 ms (missed cycles : 5).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780495306.00191402 seconds ×3 + 3.38sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization" + 3.38sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization"[0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370200 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370200 ms (missed cycles : 3).[0m ×2 + 3.52sWARNcontroller_managerOverrun might occur, Total time : 2195.186 us (Expected < 1666.667 us) --> Read time : 172.488 us, Update time : 1453.741 us, Write time : 568.957 us + 3.52sWARNros2_control_nodeOverrun might occur, Total time : 2195.186 us (Expected < 1666.667 us) --> Read time : 172.488 us, Update time : 1453.741 us, Write time : 568.957 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780495306.70009637 seconds. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.88sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.88sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893387 ms (missed cycles : 5). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893387 ms (missed cycles : 5).[0m ×2 + 4.55sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.56sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.59sWARNcontroller_managerOverrun might occur, Total time : 2124.443 us (Expected < 1666.667 us) --> Read time : 1604.858 us, Update time : 74.914 us, Write time : 444.671 us + 4.59sWARNros2_control_nodeOverrun might occur, Total time : 2124.443 us (Expected < 1666.667 us) --> Read time : 1604.858 us, Update time : 74.914 us, Write time : 444.671 us[0m ×2 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.89sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution" + 4.90sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution"[0m ×2 + 4.92sINFOros2_control_node[2026-06-03 14:01:47.907] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-06-03 14:01:47.907] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721297 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721297 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun might occur, Total time : 5693.754 us (Expected < 1666.667 us) --> Read time : 142.946 us, Update time : 4915.348 us, Write time : 635.460 us + 6.31sWARNros2_control_nodeOverrun might occur, Total time : 5693.754 us (Expected < 1666.667 us) --> Read time : 142.946 us, Update time : 4915.348 us, Write time : 635.460 us[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241777 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241777 ms (missed cycles : 4).[0m ×2 + 7.34sWARNcontroller_managerOverrun might occur, Total time : 2207.267 us (Expected < 1666.667 us) --> Read time : 329.456 us, Update time : 1451.541 us, Write time : 426.270 us + 7.34sWARNros2_control_nodeOverrun might occur, Total time : 2207.267 us (Expected < 1666.667 us) --> Read time : 329.456 us, Update time : 1451.541 us, Write time : 426.270 us[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185184 ms (missed cycles : 4). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185184 ms (missed cycles : 4).[0m ×2 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 7.79sINFOros2_control_node[2026-06-03 14:01:50.781] [info] Received new action goal ×2 + 7.79sINFOros2_control_node[2026-06-03 14:01:50.781] [info] Accepted new action goal ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.865812 ms (missed cycles : 6). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.865812 ms (missed cycles : 6).[0m ×2 + 8.79sWARNcontroller_managerOverrun might occur, Total time : 1928.163 us (Expected < 1666.667 us) --> Read time : 1169.487 us, Update time : 353.857 us, Write time : 404.819 us + 8.79sWARNros2_control_nodeOverrun might occur, Total time : 1928.163 us (Expected < 1666.667 us) --> Read time : 1169.487 us, Update time : 353.857 us, Write time : 404.819 us[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211477 ms (missed cycles : 4). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211477 ms (missed cycles : 4).[0m ×2 + 9.84sWARNcontroller_managerOverrun might occur, Total time : 4198.634 us (Expected < 1666.667 us) --> Read time : 232.451 us, Update time : 294.664 us, Write time : 3671.519 us + 9.84sWARNros2_control_nodeOverrun might occur, Total time : 4198.634 us (Expected < 1666.667 us) --> Read time : 232.451 us, Update time : 294.664 us, Write time : 3671.519 us[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.546254 ms (missed cycles : 4). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.546254 ms (missed cycles : 4).[0m ×2 + 10.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.98sINFOros2_control_node[2026-06-03 14:01:53.971] [info] Received new action goal ×2 + 10.98sINFOros2_control_node[2026-06-03 14:01:53.971] [info] Accepted new action goal ×2 + 11.29sWARNcontroller_managerOverrun might occur, Total time : 4193.714 us (Expected < 1666.667 us) --> Read time : 137.037 us, Update time : 3419.936 us, Write time : 636.741 us + 11.29sWARNros2_control_nodeOverrun might occur, Total time : 4193.714 us (Expected < 1666.667 us) --> Read time : 137.037 us, Update time : 3419.936 us, Write time : 636.741 us[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232709 ms (missed cycles : 3). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232709 ms (missed cycles : 3).[0m ×2 + 12.35sWARNcontroller_managerOverrun might occur, Total time : 2130.444 us (Expected < 1666.667 us) --> Read time : 305.105 us, Update time : 1368.027 us, Write time : 457.312 us + 12.35sWARNros2_control_nodeOverrun might occur, Total time : 2130.444 us (Expected < 1666.667 us) --> Read time : 305.105 us, Update time : 1368.027 us, Write time : 457.312 us[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946700 ms (missed cycles : 3). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946700 ms (missed cycles : 3).[0m ×2 + 13.59sWARNcontroller_managerOverrun might occur, Total time : 7318.996 us (Expected < 1666.667 us) --> Read time : 6734.757 us, Update time : 100.555 us, Write time : 483.684 us + 13.59sWARNros2_control_nodeOverrun might occur, Total time : 7318.996 us (Expected < 1666.667 us) --> Read time : 6734.757 us, Update time : 100.555 us, Write time : 483.684 us[0m ×2 + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015928 ms (missed cycles : 3). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015928 ms (missed cycles : 3).[0m ×2 + 13.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×6 + 13.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.98sINFOros2_control_node[2026-06-03 14:01:56.973] [info] Received new action goal ×2 + 13.98sINFOros2_control_node[2026-06-03 14:01:56.973] [info] Accepted new action goal ×2 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563591 ms (missed cycles : 2). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563591 ms (missed cycles : 2).[0m ×2 + 15.01sWARNcontroller_managerOverrun might occur, Total time : 6585.440 us (Expected < 1666.667 us) --> Read time : 6001.251 us, Update time : 81.124 us, Write time : 503.065 us + 15.02sWARNros2_control_nodeOverrun might occur, Total time : 6585.440 us (Expected < 1666.667 us) --> Read time : 6001.251 us, Update time : 81.124 us, Write time : 503.065 us[0m ×2 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357190 ms (missed cycles : 4). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357190 ms (missed cycles : 4).[0m ×2 + 16.23sWARNcontroller_managerOverrun might occur, Total time : 3956.012 us (Expected < 1666.667 us) --> Read time : 362.898 us, Update time : 3076.309 us, Write time : 516.805 us + 16.23sWARNros2_control_nodeOverrun might occur, Total time : 3956.012 us (Expected < 1666.667 us) --> Read time : 362.898 us, Update time : 3076.309 us, Write time : 516.805 us[0m ×2 + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.028172 ms (missed cycles : 7). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.028172 ms (missed cycles : 7).[0m ×2 + 16.95sINFOobjective_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 + 16.95sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.95sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.95sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 16.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.95sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 17.42sWARNcontroller_managerOverrun might occur, Total time : 1982.676 us (Expected < 1666.667 us) --> Read time : 197.039 us, Update time : 677.573 us, Write time : 1108.064 us + 17.42sWARNros2_control_nodeOverrun might occur, Total time : 1982.676 us (Expected < 1666.667 us) --> Read time : 197.039 us, Update time : 677.573 us, Write time : 1108.064 us[0m ×2 + 17.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543589 ms (missed cycles : 2). + 17.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543589 ms (missed cycles : 2).[0m ×2 + 18.61sWARNcontroller_managerOverrun might occur, Total time : 2377.555 us (Expected < 1666.667 us) --> Read time : 349.677 us, Update time : 107.275 us, Write time : 1920.603 us + 18.61sWARNros2_control_nodeOverrun might occur, Total time : 2377.555 us (Expected < 1666.667 us) --> Read time : 349.677 us, Update time : 107.275 us, Write time : 1920.603 us[0m ×2 + 18.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652097 ms (missed cycles : 3). + 18.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652097 ms (missed cycles : 3).[0m ×2 + 19.84sWARNcontroller_managerOverrun might occur, Total time : 11513.849 us (Expected < 1666.667 us) --> Read time : 10825.906 us, Update time : 154.978 us, Write time : 532.965 us + 19.84sWARNros2_control_nodeOverrun might occur, Total time : 11513.849 us (Expected < 1666.667 us) --> Read time : 10825.906 us, Update time : 154.978 us, Write time : 532.965 us[0m ×2 + 19.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626463 ms (missed cycles : 2). + 19.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626463 ms (missed cycles : 2).[0m ×2 + 20.85sWARNcontroller_managerOverrun might occur, Total time : 2265.040 us (Expected < 1666.667 us) --> Read time : 242.932 us, Update time : 1515.313 us, Write time : 506.795 us + 20.85sWARNros2_control_nodeOverrun might occur, Total time : 2265.040 us (Expected < 1666.667 us) --> Read time : 242.932 us, Update time : 1515.313 us, Write time : 506.795 us[0m ×2 + 20.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548462 ms (missed cycles : 6). + 20.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548462 ms (missed cycles : 6).[0m ×2 + 21.91sWARNcontroller_managerOverrun might occur, Total time : 1786.587 us (Expected < 1666.667 us) --> Read time : 201.020 us, Update time : 704.124 us, Write time : 881.443 us + 21.91sWARNros2_control_nodeOverrun might occur, Total time : 1786.587 us (Expected < 1666.667 us) --> Read time : 201.020 us, Update time : 704.124 us, Write time : 881.443 us[0m ×2 + 22.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747591 ms (missed cycles : 3). + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747591 ms (missed cycles : 3).[0m ×2 + 22.92sWARNcontroller_managerOverrun might occur, Total time : 1992.767 us (Expected < 1666.667 us) --> Read time : 213.690 us, Update time : 781.208 us, Write time : 997.869 us + 22.92sWARNros2_control_nodeOverrun might occur, Total time : 1992.767 us (Expected < 1666.667 us) --> Read time : 213.690 us, Update time : 781.208 us, Write time : 997.869 us[0m ×2 + 23.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165004 ms (missed cycles : 2). + 23.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165004 ms (missed cycles : 2).[0m ×2 + 23.75sINFOobjective_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 + 23.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.76sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.76sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.76sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.76sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.93sWARNcontroller_managerOverrun might occur, Total time : 4581.563 us (Expected < 1666.667 us) --> Read time : 166.088 us, Update time : 3909.500 us, Write time : 505.975 us + 23.93sWARNros2_control_nodeOverrun might occur, Total time : 4581.563 us (Expected < 1666.667 us) --> Read time : 166.088 us, Update time : 3909.500 us, Write time : 505.975 us[0m ×2 + 24.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844329 ms (missed cycles : 2). + 24.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844329 ms (missed cycles : 2).[0m ×2 + 24.08sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.29% of iterations over budget over 2:10.004 of wall time (516/40052). Consistently above 1% means the model timestep should be raised.[0m ×2 + 24.69sINFOros2_control_node[2026-06-03 14:02:07.679] [info] Received new action goal ×2 + 24.69sINFOros2_control_node[2026-06-03 14:02:07.679] [info] Accepted new action goal ×2 + 25.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868080 ms (missed cycles : 5). + 25.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868080 ms (missed cycles : 5).[0m ×2 + 25.10sWARNcontroller_managerOverrun might occur, Total time : 1773.946 us (Expected < 1666.667 us) --> Read time : 720.415 us, Update time : 81.004 us, Write time : 972.527 us + 25.10sWARNros2_control_nodeOverrun might occur, Total time : 1773.946 us (Expected < 1666.667 us) --> Read time : 720.415 us, Update time : 81.004 us, Write time : 972.527 us[0m ×2 + 25.85sINFOobjective_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 + 25.86sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367275 ms (missed cycles : 3). + 26.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367275 ms (missed cycles : 3).[0m ×2 + 26.14sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 26.18sWARNcontroller_managerOverrun might occur, Total time : 4881.107 us (Expected < 1666.667 us) --> Read time : 235.132 us, Update time : 3941.791 us, Write time : 704.184 us + 26.18sWARNros2_control_nodeOverrun might occur, Total time : 4881.107 us (Expected < 1666.667 us) --> Read time : 235.132 us, Update time : 3941.791 us, Write time : 704.184 us[0m ×2 + 26.19sINFOros2_control_node[2026-06-03 14:02:09.181] [info] Received new action goal ×2 + 26.19sINFOros2_control_node[2026-06-03 14:02:09.181] [info] Accepted new action goal ×2 + 27.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023102 ms (missed cycles : 3). + 27.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023102 ms (missed cycles : 3).[0m ×2 + 27.24sWARNcontroller_managerOverrun might occur, Total time : 1733.305 us (Expected < 1666.667 us) --> Read time : 842.071 us, Update time : 434.711 us, Write time : 456.523 us + 27.24sWARNros2_control_nodeOverrun might occur, Total time : 1733.305 us (Expected < 1666.667 us) --> Read time : 842.071 us, Update time : 434.711 us, Write time : 456.523 us[0m ×2 + 28.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414723 ms (missed cycles : 3). + 28.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414723 ms (missed cycles : 3).[0m ×2 + 28.29sWARNcontroller_managerOverrun might occur, Total time : 2457.560 us (Expected < 1666.667 us) --> Read time : 245.462 us, Update time : 1576.507 us, Write time : 635.591 us + 28.29sWARNros2_control_nodeOverrun might occur, Total time : 2457.560 us (Expected < 1666.667 us) --> Read time : 245.462 us, Update time : 1576.507 us, Write time : 635.591 us[0m ×2 + 28.31sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.32sINFOros2_control_node[2026-06-03 14:02:11.310] [info] Received new action goal ×2 + 28.32sINFOros2_control_node[2026-06-03 14:02:11.310] [info] Accepted new action goal ×2 + 29.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428899 ms (missed cycles : 3). + 29.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428899 ms (missed cycles : 3).[0m ×2 + 29.82sWARNcontroller_managerOverrun might occur, Total time : 5451.854 us (Expected < 1666.667 us) --> Read time : 233.381 us, Update time : 4559.791 us, Write time : 658.682 us + 29.82sWARNros2_control_nodeOverrun might occur, Total time : 5451.854 us (Expected < 1666.667 us) --> Read time : 233.381 us, Update time : 4559.791 us, Write time : 658.682 us[0m ×2 + 30.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.609498 ms (missed cycles : 6). + 30.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.609498 ms (missed cycles : 6).[0m ×2 + 31.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.882856 ms (missed cycles : 8). + 31.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.882856 ms (missed cycles : 8).[0m ×2 + 31.27sWARNcontroller_managerOverrun might occur, Total time : 2098.302 us (Expected < 1666.667 us) --> Read time : 195.430 us, Update time : 1449.440 us, Write time : 453.432 us + 31.27sWARNros2_control_nodeOverrun might occur, Total time : 2098.302 us (Expected < 1666.667 us) --> Read time : 195.430 us, Update time : 1449.440 us, Write time : 453.432 us[0m ×2 + 31.37sINFOros2_control_node[2026-06-03 14:02:14.360] [info] Received new action goal ×2 + 31.37sINFOros2_control_node[2026-06-03 14:02:14.360] [info] Accepted new action goal ×2 + 32.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.730580 ms (missed cycles : 6). + 32.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.730580 ms (missed cycles : 6).[0m ×2 + 32.64sWARNcontroller_managerOverrun might occur, Total time : 1731.254 us (Expected < 1666.667 us) --> Read time : 731.686 us, Update time : 204.690 us, Write time : 794.878 us + 32.64sWARNros2_control_nodeOverrun might occur, Total time : 1731.254 us (Expected < 1666.667 us) --> Read time : 731.686 us, Update time : 204.690 us, Write time : 794.878 us[0m ×2 + 33.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337098 ms (missed cycles : 3). + 33.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337098 ms (missed cycles : 3).[0m ×2 + 33.96sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 33.96sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.99sINFOros2_control_node[2026-06-03 14:02:16.984] [info] Received new action goal ×2 + 33.99sINFOros2_control_node[2026-06-03 14:02:16.984] [info] Accepted new action goal ×2 + 34.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806241 ms (missed cycles : 3). + 34.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806241 ms (missed cycles : 3).[0m ×2 + 34.39sWARNcontroller_managerOverrun might occur, Total time : 2633.458 us (Expected < 1666.667 us) --> Read time : 172.158 us, Update time : 155.818 us, Write time : 2305.482 us + 34.39sWARNros2_control_nodeOverrun might occur, Total time : 2633.458 us (Expected < 1666.667 us) --> Read time : 172.158 us, Update time : 155.818 us, Write time : 2305.482 us[0m ×2 + 35.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957173 ms (missed cycles : 2). + 35.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957173 ms (missed cycles : 2).[0m ×2 + 35.42sWARNcontroller_managerOverrun might occur, Total time : 8046.800 us (Expected < 1666.667 us) --> Read time : 229.981 us, Update time : 7262.902 us, Write time : 553.917 us + 35.42sWARNros2_control_nodeOverrun might occur, Total time : 8046.800 us (Expected < 1666.667 us) --> Read time : 229.981 us, Update time : 7262.902 us, Write time : 553.917 us[0m ×2 + 36.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.892291 ms (missed cycles : 8). + 36.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.892291 ms (missed cycles : 8).[0m ×2 + 36.62sWARNcontroller_managerOverrun might occur, Total time : 4882.226 us (Expected < 1666.667 us) --> Read time : 212.280 us, Update time : 4146.611 us, Write time : 523.335 us + 36.63sWARNros2_control_nodeOverrun might occur, Total time : 4882.226 us (Expected < 1666.667 us) --> Read time : 212.280 us, Update time : 4146.611 us, Write time : 523.335 us[0m ×2 + 37.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807838 ms (missed cycles : 2). + 37.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807838 ms (missed cycles : 2).[0m ×2 + 37.71sWARNcontroller_managerOverrun might occur, Total time : 2172.515 us (Expected < 1666.667 us) --> Read time : 207.580 us, Update time : 1567.476 us, Write time : 397.459 us + 37.71sWARNros2_control_nodeOverrun might occur, Total time : 2172.515 us (Expected < 1666.667 us) --> Read time : 207.580 us, Update time : 1567.476 us, Write time : 397.459 us[0m ×2 + 38.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.615988 ms (missed cycles : 4). + 38.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.615988 ms (missed cycles : 4).[0m ×2 + 38.71sWARNcontroller_managerOverrun might occur, Total time : 5026.915 us (Expected < 1666.667 us) --> Read time : 349.037 us, Update time : 4110.410 us, Write time : 567.468 us + 38.71sWARNros2_control_nodeOverrun might occur, Total time : 5026.915 us (Expected < 1666.667 us) --> Read time : 349.037 us, Update time : 4110.410 us, Write time : 567.468 us[0m ×2 + 39.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733453 ms (missed cycles : 3). + 39.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733453 ms (missed cycles : 3).[0m ×2 + 39.93sWARNcontroller_managerOverrun might occur, Total time : 3979.352 us (Expected < 1666.667 us) --> Read time : 194.799 us, Update time : 3275.559 us, Write time : 508.994 us + 39.93sWARNros2_control_nodeOverrun might occur, Total time : 3979.352 us (Expected < 1666.667 us) --> Read time : 194.799 us, Update time : 3275.559 us, Write time : 508.994 us[0m ×2 + 40.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912601 ms (missed cycles : 5). + 40.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912601 ms (missed cycles : 5).[0m ×2 + 41.00sWARNcontroller_managerOverrun might occur, Total time : 3556.492 us (Expected < 1666.667 us) --> Read time : 482.233 us, Update time : 275.063 us, Write time : 2799.196 us + 41.00sWARNros2_control_nodeOverrun might occur, Total time : 3556.492 us (Expected < 1666.667 us) --> Read time : 482.233 us, Update time : 275.063 us, Write time : 2799.196 us[0m ×2 + 41.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454619 ms (missed cycles : 4). + 41.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454619 ms (missed cycles : 4).[0m ×2 + 42.32sWARNcontroller_managerOverrun might occur, Total time : 1800.397 us (Expected < 1666.667 us) --> Read time : 843.791 us, Update time : 105.695 us, Write time : 850.911 us + 42.32sWARNros2_control_nodeOverrun might occur, Total time : 1800.397 us (Expected < 1666.667 us) --> Read time : 843.791 us, Update time : 105.695 us, Write time : 850.911 us[0m ×2 + 42.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445353 ms (missed cycles : 2). + 42.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445353 ms (missed cycles : 2).[0m ×2 + 43.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.969629 ms (missed cycles : 5). + 43.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.969629 ms (missed cycles : 5).[0m ×2 + 43.52sWARNcontroller_managerOverrun might occur, Total time : 1713.873 us (Expected < 1666.667 us) --> Read time : 698.084 us, Update time : 100.305 us, Write time : 915.484 us + 43.52sWARNros2_control_nodeOverrun might occur, Total time : 1713.873 us (Expected < 1666.667 us) --> Read time : 698.084 us, Update time : 100.305 us, Write time : 915.484 us[0m ×2 + 44.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360550 ms (missed cycles : 5). + 44.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360550 ms (missed cycles : 5).[0m ×2 + 44.72sWARNcontroller_managerOverrun might occur, Total time : 2136.404 us (Expected < 1666.667 us) --> Read time : 212.180 us, Update time : 1451.151 us, Write time : 473.073 us + 44.72sWARNros2_control_nodeOverrun might occur, Total time : 2136.404 us (Expected < 1666.667 us) --> Read time : 212.180 us, Update time : 1451.151 us, Write time : 473.073 us[0m ×2 + 44.86sINFOros2_control_node[2026-06-03 14:02:27.850] [info] Received new action goal ×2 + 44.86sINFOros2_control_node[2026-06-03 14:02:27.850] [info] Accepted new action goal ×2 + 45.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581262 ms (missed cycles : 3). + 45.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581262 ms (missed cycles : 3).[0m ×2 + 45.91sWARNcontroller_managerOverrun might occur, Total time : 8196.097 us (Expected < 1666.667 us) --> Read time : 203.160 us, Update time : 7478.692 us, Write time : 514.245 us + 45.92sWARNros2_control_nodeOverrun might occur, Total time : 8196.097 us (Expected < 1666.667 us) --> Read time : 203.160 us, Update time : 7478.692 us, Write time : 514.245 us[0m ×2 + 46.01sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780495349.00599480 seconds ×3 + 46.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917987 ms (missed cycles : 3). + 46.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917987 ms (missed cycles : 3).[0m ×2 + 46.72sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780495349.71640396 seconds. ×3 + 46.96sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 46.96sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 47.13sWARNcontroller_managerOverrun might occur, Total time : 5463.366 us (Expected < 1666.667 us) --> Read time : 160.968 us, Update time : 4838.985 us, Write time : 463.413 us + 47.13sWARNros2_control_nodeOverrun might occur, Total time : 5463.366 us (Expected < 1666.667 us) --> Read time : 160.968 us, Update time : 4838.985 us, Write time : 463.413 us[0m ×2 + 47.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241020 ms (missed cycles : 5). + 47.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241020 ms (missed cycles : 5).[0m ×2 + 47.99sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 48.00sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.01sINFOros2_control_node[2026-06-03 14:02:31.001] [info] Received new action goal ×2 + 48.01sINFOros2_control_node[2026-06-03 14:02:31.001] [info] Accepted new action goal ×2 + 48.21sWARNcontroller_managerOverrun might occur, Total time : 1691.872 us (Expected < 1666.667 us) --> Read time : 203.160 us, Update time : 1080.252 us, Write time : 408.460 us + 48.21sWARNros2_control_nodeOverrun might occur, Total time : 1691.872 us (Expected < 1666.667 us) --> Read time : 203.160 us, Update time : 1080.252 us, Write time : 408.460 us[0m ×2 + 48.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.345456 ms (missed cycles : 7). + 48.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.345456 ms (missed cycles : 7).[0m ×2 + 49.43sWARNcontroller_managerOverrun might occur, Total time : 2945.363 us (Expected < 1666.667 us) --> Read time : 234.082 us, Update time : 95.784 us, Write time : 2615.497 us + 49.43sWARNros2_control_nodeOverrun might occur, Total time : 2945.363 us (Expected < 1666.667 us) --> Read time : 234.082 us, Update time : 95.784 us, Write time : 2615.497 us[0m ×2 + 49.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767103 ms (missed cycles : 3). + 49.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767103 ms (missed cycles : 3).[0m ×2
✓ passed	Pick 1 Pill Bottle with SAM3	pick_1_pill_bottle_with_sam3.xml	31.9s	210 warnings · 2415 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×369 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×369 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×738 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×738 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216702 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216702 ms (missed cycles : 2).[0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 6539.797 us (Expected < 1666.667 us) --> Read time : 217.961 us, Update time : 1124.484 us, Write time : 5197.352 us + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 6539.797 us (Expected < 1666.667 us) --> Read time : 217.961 us, Update time : 1124.484 us, Write time : 5197.352 us[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839774 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839774 ms (missed cycles : 2).[0m ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 1958.525 us (Expected < 1666.667 us) --> Read time : 332.566 us, Update time : 92.774 us, Write time : 1533.185 us + 1.87sWARNros2_control_nodeOverrun might occur, Total time : 1958.525 us (Expected < 1666.667 us) --> Read time : 332.566 us, Update time : 92.774 us, Write time : 1533.185 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126091 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126091 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun might occur, Total time : 3144.132 us (Expected < 1666.667 us) --> Read time : 790.078 us, Update time : 236.192 us, Write time : 2117.862 us + 3.11sWARNros2_control_nodeOverrun might occur, Total time : 3144.132 us (Expected < 1666.667 us) --> Read time : 790.078 us, Update time : 236.192 us, Write time : 2117.862 us[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780495424.44333148 seconds ×3 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986488 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986488 ms (missed cycles : 2).[0m ×2 + 3.72sINFOjoint_trajectory_controllerGoal reached, success! + 3.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.92sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780495425.10204983 seconds. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.16sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.16sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 4.25sWARNcontroller_managerOverrun might occur, Total time : 6709.026 us (Expected < 1666.667 us) --> Read time : 124.116 us, Update time : 5997.702 us, Write time : 587.208 us + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 6709.026 us (Expected < 1666.667 us) --> Read time : 124.116 us, Update time : 5997.702 us, Write time : 587.208 us[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731818 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731818 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerSuccessfully switched controllers! + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 5.11sINFOobjective_server_nodeFound path in 6 iterations (0.00486167 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] ×2 + 5.18sINFOros2_control_node[2026-06-03 14:03:46.358] [info] Received new action goal ×2 + 5.18sINFOros2_control_node[2026-06-03 14:03:46.358] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731321 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731321 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun might occur, Total time : 2666.089 us (Expected < 1666.667 us) --> Read time : 145.907 us, Update time : 35.212 us, Write time : 2484.970 us + 5.56sWARNros2_control_nodeOverrun might occur, Total time : 2666.089 us (Expected < 1666.667 us) --> Read time : 145.907 us, Update time : 35.212 us, Write time : 2484.970 us[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169559 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169559 ms (missed cycles : 5).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 1834.559 us (Expected < 1666.667 us) --> Read time : 128.167 us, Update time : 49.192 us, Write time : 1657.200 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 1834.559 us (Expected < 1666.667 us) --> Read time : 128.167 us, Update time : 49.192 us, Write time : 1657.200 us[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075556 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075556 ms (missed cycles : 2).[0m ×2 + 8.15sWARNcontroller_managerOverrun might occur, Total time : 5017.814 us (Expected < 1666.667 us) --> Read time : 206.690 us, Update time : 4174.643 us, Write time : 636.481 us + 8.15sWARNros2_control_nodeOverrun might occur, Total time : 5017.814 us (Expected < 1666.667 us) --> Read time : 206.690 us, Update time : 4174.643 us, Write time : 636.481 us[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284472 ms (missed cycles : 7). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284472 ms (missed cycles : 7).[0m ×2 + 9.34sWARNcontroller_managerOverrun might occur, Total time : 1987.937 us (Expected < 1666.667 us) --> Read time : 1476.572 us, Update time : 72.273 us, Write time : 439.092 us + 9.34sWARNros2_control_nodeOverrun might occur, Total time : 1987.937 us (Expected < 1666.667 us) --> Read time : 1476.572 us, Update time : 72.273 us, Write time : 439.092 us[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454502 ms (missed cycles : 4). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454502 ms (missed cycles : 4).[0m ×2 + 10.46sWARNcontroller_managerOverrun might occur, Total time : 4863.646 us (Expected < 1666.667 us) --> Read time : 114.325 us, Update time : 4269.148 us, Write time : 480.173 us + 10.46sWARNros2_control_nodeOverrun might occur, Total time : 4863.646 us (Expected < 1666.667 us) --> Read time : 114.325 us, Update time : 4269.148 us, Write time : 480.173 us[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130303 ms (missed cycles : 2). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130303 ms (missed cycles : 2).[0m ×2 + 11.48sWARNcontroller_managerOverrun might occur, Total time : 2964.284 us (Expected < 1666.667 us) --> Read time : 355.857 us, Update time : 2104.652 us, Write time : 503.775 us + 11.48sWARNros2_control_nodeOverrun might occur, Total time : 2964.284 us (Expected < 1666.667 us) --> Read time : 355.857 us, Update time : 2104.652 us, Write time : 503.775 us[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664956 ms (missed cycles : 6). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664956 ms (missed cycles : 6).[0m ×2 + 12.62sWARNcontroller_managerOverrun might occur, Total time : 2036.869 us (Expected < 1666.667 us) --> Read time : 193.259 us, Update time : 1423.109 us, Write time : 420.501 us + 12.62sWARNros2_control_nodeOverrun might occur, Total time : 2036.869 us (Expected < 1666.667 us) --> Read time : 193.259 us, Update time : 1423.109 us, Write time : 420.501 us[0m ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931302 ms (missed cycles : 2). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931302 ms (missed cycles : 2).[0m ×2 + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233924 ms (missed cycles : 3). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233924 ms (missed cycles : 3).[0m ×2 + 13.68sWARNcontroller_managerOverrun might occur, Total time : 1710.233 us (Expected < 1666.667 us) --> Read time : 643.971 us, Update time : 352.057 us, Write time : 714.205 us + 13.68sWARNros2_control_nodeOverrun might occur, Total time : 1710.233 us (Expected < 1666.667 us) --> Read time : 643.971 us, Update time : 352.057 us, Write time : 714.205 us[0m ×2 + 14.35sINFOobjective_server_node[0;m[0;93m2026-06-03 14:03:55.531424356 [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 + 14.35sINFOobjective_server_node[0;93m2026-06-03 14:03:55.531458918 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749343 ms (missed cycles : 4). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749343 ms (missed cycles : 4).[0m ×2 + 14.85sINFOobjective_server_node[0;93m2026-06-03 14:03:56.031481940 [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 + 14.85sINFOobjective_server_node[0;93m2026-06-03 14:03:56.031528192 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 14.98sINFOobjective_server_node[0;93m2026-06-03 14:03:56.157531928 [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 + 14.98sINFOobjective_server_node[0;93m2026-06-03 14:03:56.160730464 [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 + 14.98sINFOobjective_server_node[0;93m2026-06-03 14:03:56.160758886 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 15.11sWARNcontroller_managerOverrun might occur, Total time : 4424.626 us (Expected < 1666.667 us) --> Read time : 202.830 us, Update time : 53.052 us, Write time : 4168.744 us + 15.11sWARNros2_control_nodeOverrun might occur, Total time : 4424.626 us (Expected < 1666.667 us) --> Read time : 202.830 us, Update time : 53.052 us, Write time : 4168.744 us[0m ×2 + 15.34sINFOobjective_server_node[0;93m2026-06-03 14:03:56.510935577 [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 + 15.35sINFOobjective_server_node[0;93m2026-06-03 14:03:56.533214614 [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 + 15.35sINFOobjective_server_node[0;93m2026-06-03 14:03:56.533268457 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614864 ms (missed cycles : 4). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614864 ms (missed cycles : 4).[0m ×2 + 16.15sWARNcontroller_managerOverrun might occur, Total time : 1767.176 us (Expected < 1666.667 us) --> Read time : 399.529 us, Update time : 356.588 us, Write time : 1011.059 us + 16.16sWARNros2_control_nodeOverrun might occur, Total time : 1767.176 us (Expected < 1666.667 us) --> Read time : 399.529 us, Update time : 356.588 us, Write time : 1011.059 us[0m ×2 + 16.27sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/masks_visualization" + 16.27sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/masks_visualization"[0m ×2 + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378885 ms (missed cycles : 2). + 16.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378885 ms (missed cycles : 2).[0m ×2 + 17.27sWARNcontroller_managerOverrun might occur, Total time : 1764.066 us (Expected < 1666.667 us) --> Read time : 158.928 us, Update time : 1194.388 us, Write time : 410.750 us + 17.27sWARNros2_control_nodeOverrun might occur, Total time : 1764.066 us (Expected < 1666.667 us) --> Read time : 158.928 us, Update time : 1194.388 us, Write time : 410.750 us[0m ×2 + 17.40sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020015 ms (missed cycles : 2). + 17.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020015 ms (missed cycles : 2).[0m ×2 + 18.28sWARNcontroller_managerOverrun might occur, Total time : 4956.442 us (Expected < 1666.667 us) --> Read time : 282.964 us, Update time : 4097.990 us, Write time : 575.488 us + 18.28sWARNros2_control_nodeOverrun might occur, Total time : 4956.442 us (Expected < 1666.667 us) --> Read time : 282.964 us, Update time : 4097.990 us, Write time : 575.488 us[0m ×2 + 18.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.969796 ms (missed cycles : 5). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.969796 ms (missed cycles : 5).[0m ×2 + 19.55sWARNcontroller_managerOverrun might occur, Total time : 3233.948 us (Expected < 1666.667 us) --> Read time : 504.465 us, Update time : 169.598 us, Write time : 2559.885 us + 19.55sWARNros2_control_nodeOverrun might occur, Total time : 3233.948 us (Expected < 1666.667 us) --> Read time : 504.465 us, Update time : 169.598 us, Write time : 2559.885 us[0m ×2 + 19.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560987 ms (missed cycles : 4). + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560987 ms (missed cycles : 4).[0m ×2 + 20.31sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 20.65sINFOobjective_server_nodeFound path in 4 iterations (0.0025469 s). ×2 + 20.71sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 20.74sINFOobjective_server_nodeFound path in 12 iterations (0.00455518 s). ×2 + 20.80sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 20.83sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/solution" + 20.83sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/solution"[0m ×2 + 20.83sWARNcontroller_managerOverrun might occur, Total time : 1810.479 us (Expected < 1666.667 us) --> Read time : 285.984 us, Update time : 795.599 us, Write time : 728.896 us + 20.83sWARNros2_control_nodeOverrun might occur, Total time : 1810.479 us (Expected < 1666.667 us) --> Read time : 285.984 us, Update time : 795.599 us, Write time : 728.896 us[0m ×2 + 20.83sINFOobjective_server_nodeFound path in 1 iterations (0.00270337 s). ×2 + 20.88sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] ×2 + 20.90sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 20.92sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 20.94sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 20.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862308 ms (missed cycles : 5). + 20.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862308 ms (missed cycles : 5).[0m ×2 + 20.96sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 20.99sINFOobjective_server_nodeFound path in 12 iterations (0.00427373 s). ×2 + 21.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] ×2 + 21.07sINFOobjective_server_nodeFound path in 2 iterations (0.00407055 s). ×2 + 21.10sINFOobjective_server_nodePath shortcutter: [X_____________________________X____________________X] ×2 + 21.15sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 21.18sINFOobjective_server_nodeFound path in 4 iterations (0.00573338 s). ×2 + 21.25sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 21.27sINFOobjective_server_nodeFound path in 4 iterations (0.00250025 s). ×2 + 21.35sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X______________________X] ×2 + 21.37sINFOobjective_server_nodeFound path in 1 iterations (0.00552521 s). ×2 + 21.43sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 21.46sINFOobjective_server_nodeFound path in 1 iterations (0.0026186 s). ×2 + 21.52sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] ×2 + 21.55sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 21.58sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 21.60sINFOobjective_server_nodeFound path in 1 iterations (0.00476202 s). ×2 + 21.77sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________X_____X] ×2 + 21.80sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 21.86sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 21.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 21.91sINFOros2_control_node[2026-06-03 14:04:03.090] [info] Received new action goal ×2 + 21.91sINFOros2_control_node[2026-06-03 14:04:03.090] [info] Accepted new action goal ×2 + 22.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806902 ms (missed cycles : 2). + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806902 ms (missed cycles : 2).[0m ×2 + 22.03sWARNcontroller_managerOverrun might occur, Total time : 5504.539 us (Expected < 1666.667 us) --> Read time : 163.318 us, Update time : 4887.529 us, Write time : 453.692 us + 22.03sWARNros2_control_nodeOverrun might occur, Total time : 5504.539 us (Expected < 1666.667 us) --> Read time : 163.318 us, Update time : 4887.529 us, Write time : 453.692 us[0m ×2 + 23.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555557 ms (missed cycles : 3). + 23.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555557 ms (missed cycles : 3).[0m ×2 + 23.26sWARNcontroller_managerOverrun might occur, Total time : 1859.891 us (Expected < 1666.667 us) --> Read time : 401.800 us, Update time : 416.670 us, Write time : 1041.421 us + 23.26sWARNros2_control_nodeOverrun might occur, Total time : 1859.891 us (Expected < 1666.667 us) --> Read time : 401.800 us, Update time : 416.670 us, Write time : 1041.421 us[0m ×2 + 24.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161426 ms (missed cycles : 2). + 24.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161426 ms (missed cycles : 2).[0m ×2 + 24.67sWARNcontroller_managerOverrun might occur, Total time : 9993.168 us (Expected < 1666.667 us) --> Read time : 207.600 us, Update time : 9226.090 us, Write time : 559.478 us + 24.67sWARNros2_control_nodeOverrun might occur, Total time : 9993.168 us (Expected < 1666.667 us) --> Read time : 207.600 us, Update time : 9226.090 us, Write time : 559.478 us[0m ×2 + 25.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.306144 ms (missed cycles : 7). + 25.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.306144 ms (missed cycles : 7).[0m ×2 + 25.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.46% of iterations over budget over 4:10.010 of wall time (1118/76770). Consistently above 1% means the model timestep should be raised.[0m ×2 + 25.90sWARNcontroller_managerOverrun might occur, Total time : 11180.657 us (Expected < 1666.667 us) --> Read time : 425.141 us, Update time : 10142.186 us, Write time : 613.330 us + 25.91sWARNros2_control_nodeOverrun might occur, Total time : 11180.657 us (Expected < 1666.667 us) --> Read time : 425.141 us, Update time : 10142.186 us, Write time : 613.330 us[0m ×2 + 26.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503679 ms (missed cycles : 3). + 26.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503679 ms (missed cycles : 3).[0m ×2 + 26.91sINFOros2_control_node[2026-06-03 14:04:08.092] [info] Received new action goal ×2 + 26.91sINFOros2_control_node[2026-06-03 14:04:08.092] [info] Accepted new action goal ×2 + 27.02sWARNcontroller_managerOverrun might occur, Total time : 2162.415 us (Expected < 1666.667 us) --> Read time : 229.431 us, Update time : 1387.028 us, Write time : 545.956 us + 27.02sWARNros2_control_nodeOverrun might occur, Total time : 2162.415 us (Expected < 1666.667 us) --> Read time : 229.431 us, Update time : 1387.028 us, Write time : 545.956 us[0m ×2 + 27.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.674075 ms (missed cycles : 6). + 27.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.674075 ms (missed cycles : 6).[0m ×2 + 28.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481765 ms (missed cycles : 2). + 28.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481765 ms (missed cycles : 2).[0m ×2 + 28.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 28.50sINFOros2_control_node[2026-06-03 14:04:09.676] [info] Received new action goal ×2 + 28.50sINFOros2_control_node[2026-06-03 14:04:09.676] [info] Accepted new action goal ×2 + 28.87sWARNcontroller_managerOverrun might occur, Total time : 1674.602 us (Expected < 1666.667 us) --> Read time : 215.271 us, Update time : 761.677 us, Write time : 697.654 us + 28.87sWARNros2_control_nodeOverrun might occur, Total time : 1674.602 us (Expected < 1666.667 us) --> Read time : 215.271 us, Update time : 761.677 us, Write time : 697.654 us[0m ×2 + 29.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989645 ms (missed cycles : 2). + 29.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989645 ms (missed cycles : 2).[0m ×2 + 29.70sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 29.75sINFOros2_control_node[2026-06-03 14:04:10.932] [info] Received new action goal ×2 + 29.75sINFOros2_control_node[2026-06-03 14:04:10.932] [info] Accepted new action goal ×2 + 30.03sWARNcontroller_managerOverrun might occur, Total time : 2164.716 us (Expected < 1666.667 us) --> Read time : 215.131 us, Update time : 1489.632 us, Write time : 459.953 us + 30.03sWARNros2_control_nodeOverrun might occur, Total time : 2164.716 us (Expected < 1666.667 us) --> Read time : 215.131 us, Update time : 1489.632 us, Write time : 459.953 us[0m ×2 + 30.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243675 ms (missed cycles : 5). + 30.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243675 ms (missed cycles : 5).[0m ×2 + 31.45sWARNcontroller_managerOverrun might occur, Total time : 1756.325 us (Expected < 1666.667 us) --> Read time : 257.343 us, Update time : 95.074 us, Write time : 1403.908 us + 31.45sWARNros2_control_nodeOverrun might occur, Total time : 1756.325 us (Expected < 1666.667 us) --> Read time : 257.343 us, Update time : 95.074 us, Write time : 1403.908 us[0m ×2 + 31.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296776 ms (missed cycles : 4). + 31.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296776 ms (missed cycles : 4).[0m ×2 + 32.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763081 ms (missed cycles : 3). + 32.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763081 ms (missed cycles : 3).[0m ×2 + 32.72sWARNcontroller_managerOverrun might occur, Total time : 6641.374 us (Expected < 1666.667 us) --> Read time : 276.593 us, Update time : 5823.334 us, Write time : 541.447 us + 32.72sWARNros2_control_nodeOverrun might occur, Total time : 6641.374 us (Expected < 1666.667 us) --> Read time : 276.593 us, Update time : 5823.334 us, Write time : 541.447 us[0m ×2 + 33.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747823 ms (missed cycles : 3). + 33.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747823 ms (missed cycles : 3).[0m ×2 + 33.88sWARNcontroller_managerOverrun might occur, Total time : 3338.574 us (Expected < 1666.667 us) --> Read time : 312.116 us, Update time : 2419.518 us, Write time : 606.940 us + 33.88sWARNros2_control_nodeOverrun might occur, Total time : 3338.574 us (Expected < 1666.667 us) --> Read time : 312.116 us, Update time : 2419.518 us, Write time : 606.940 us[0m ×2 + 34.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024840 ms (missed cycles : 2). + 34.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024840 ms (missed cycles : 2).[0m ×2 + 34.96sWARNcontroller_managerOverrun might occur, Total time : 2017.218 us (Expected < 1666.667 us) --> Read time : 867.942 us, Update time : 60.943 us, Write time : 1088.333 us + 34.96sWARNros2_control_nodeOverrun might occur, Total time : 2017.218 us (Expected < 1666.667 us) --> Read time : 867.942 us, Update time : 60.943 us, Write time : 1088.333 us[0m ×2 + 35.18sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780495456.36229086 seconds ×3 + 35.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474147 ms (missed cycles : 3). + 35.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474147 ms (missed cycles : 3).[0m ×2 + 35.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780495457.13071823 seconds. ×3 + 36.02sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 36.02sINFOfoxglove_bridgeRemoving channel 80 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 36.02sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution" + 36.02sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 36.02sINFOfoxglove_bridgeRemoving channel 80 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 36.02sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution"[0m ×2 + 36.15sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 36.15sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 36.16sINFOros2_control_node[2026-06-03 14:04:17.339] [info] Received new action goal ×2 + 36.16sINFOros2_control_node[2026-06-03 14:04:17.339] [info] Accepted new action goal ×2 + 36.38sWARNcontroller_managerOverrun might occur, Total time : 4873.358 us (Expected < 1666.667 us) --> Read time : 198.560 us, Update time : 4224.556 us, Write time : 450.242 us + 36.38sWARNros2_control_nodeOverrun might occur, Total time : 4873.358 us (Expected < 1666.667 us) --> Read time : 198.560 us, Update time : 4224.556 us, Write time : 450.242 us[0m ×2 + 36.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592279 ms (missed cycles : 2). + 36.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592279 ms (missed cycles : 2).[0m ×2 + 37.46sWARNcontroller_managerOverrun might occur, Total time : 2239.239 us (Expected < 1666.667 us) --> Read time : 292.534 us, Update time : 1427.070 us, Write time : 519.635 us + 37.47sWARNros2_control_nodeOverrun might occur, Total time : 2239.239 us (Expected < 1666.667 us) --> Read time : 292.534 us, Update time : 1427.070 us, Write time : 519.635 us[0m ×2 + 37.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958207 ms (missed cycles : 2). + 37.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958207 ms (missed cycles : 2).[0m ×2 + 38.50sWARNcontroller_managerOverrun might occur, Total time : 1742.805 us (Expected < 1666.667 us) --> Read time : 1260.762 us, Update time : 63.143 us, Write time : 418.900 us + 38.52sWARNros2_control_nodeOverrun might occur, Total time : 1742.805 us (Expected < 1666.667 us) --> Read time : 1260.762 us, Update time : 63.143 us, Write time : 418.900 us[0m ×2 + 38.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.952412 ms (missed cycles : 8). + 38.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.952412 ms (missed cycles : 8).[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	31.6s	4833 errors · 219 warnings · 5008 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.155358 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.155358 ms (missed cycles : 6).[0m ×2 + 0.01sWARNcontroller_managerOverrun might occur, Total time : 1754.665 us (Expected < 1666.667 us) --> Read time : 236.661 us, Update time : 480.994 us, Write time : 1037.010 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 1754.665 us (Expected < 1666.667 us) --> Read time : 236.661 us, Update time : 480.994 us, Write time : 1037.010 us[0m ×2 + 1.01sWARNcontroller_managerOverrun might occur, Total time : 2507.302 us (Expected < 1666.667 us) --> Read time : 197.200 us, Update time : 71.974 us, Write time : 2238.128 us + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun might occur, Total time : 2507.302 us (Expected < 1666.667 us) --> Read time : 197.200 us, Update time : 71.974 us, Write time : 2238.128 us[0m ×2 + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984477 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861568 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861568 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun might occur, Total time : 2954.673 us (Expected < 1666.667 us) --> Read time : 206.590 us, Update time : 71.413 us, Write time : 2676.670 us + 2.05sWARNros2_control_nodeOverrun might occur, Total time : 2954.673 us (Expected < 1666.667 us) --> Read time : 206.590 us, Update time : 71.413 us, Write time : 2676.670 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780495360.70656610 seconds ×3 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.90sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731510 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731510 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun might occur, Total time : 2045.470 us (Expected < 1666.667 us) --> Read time : 322.386 us, Update time : 62.473 us, Write time : 1660.611 us + 3.21sWARNros2_control_nodeOverrun might occur, Total time : 2045.470 us (Expected < 1666.667 us) --> Read time : 322.386 us, Update time : 62.473 us, Write time : 1660.611 us[0m ×2 + 3.46sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780495361.27007246 seconds. ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.64sINFOros2_control_node[2026-06-03 14:02:41.455] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-06-03 14:02:41.455] [info] Accepted new action goal ×2 + 3.74sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 3.74sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230901 ms (missed cycles : 4). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230901 ms (missed cycles : 4).[0m ×2 + 4.27sWARNcontroller_managerOverrun might occur, Total time : 3283.090 us (Expected < 1666.667 us) --> Read time : 179.539 us, Update time : 2530.373 us, Write time : 573.178 us + 4.27sWARNros2_control_nodeOverrun might occur, Total time : 3283.090 us (Expected < 1666.667 us) --> Read time : 179.539 us, Update time : 2530.373 us, Write time : 573.178 us[0m ×2 + 4.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 4.93sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333304 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333304 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun might occur, Total time : 1800.477 us (Expected < 1666.667 us) --> Read time : 184.399 us, Update time : 737.546 us, Write time : 878.532 us + 5.28sWARNros2_control_nodeOverrun might occur, Total time : 1800.477 us (Expected < 1666.667 us) --> Read time : 184.399 us, Update time : 737.546 us, Write time : 878.532 us[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564864 ms (missed cycles : 3). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564864 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun might occur, Total time : 2071.051 us (Expected < 1666.667 us) --> Read time : 322.076 us, Update time : 797.168 us, Write time : 951.807 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 2071.051 us (Expected < 1666.667 us) --> Read time : 322.076 us, Update time : 797.168 us, Write time : 951.807 us[0m ×2 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918673 ms (missed cycles : 2). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918673 ms (missed cycles : 2).[0m ×2 + 7.49sWARNcontroller_managerOverrun might occur, Total time : 1681.932 us (Expected < 1666.667 us) --> Read time : 726.065 us, Update time : 67.114 us, Write time : 888.753 us + 7.49sWARNros2_control_nodeOverrun might occur, Total time : 1681.932 us (Expected < 1666.667 us) --> Read time : 726.065 us, Update time : 67.114 us, Write time : 888.753 us[0m ×2 + 7.83sINFOjoint_trajectory_controllerReceived new action goal ×1608 + 7.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039319522885 + 7.83sINFOros2_control_nodeReceived new action goal[0m ×3216 + 7.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039319522885[0m ×2 + 7.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000303313401965 + 7.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000303313401965[0m ×2 + 7.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000106455144926 + 7.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000106455144926[0m ×2 + 7.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000358141546621 + 7.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000358141546621[0m ×2 + 7.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009347607364 + 7.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009347607364[0m ×2 + 7.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000683707393323 + 7.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000683707393323[0m ×2 + 7.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000373331572417 + 7.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000373331572417[0m ×2 + 7.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000167517236810 + 7.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000167517236810[0m ×2 + 7.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000119165826853 + 7.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000119165826853[0m ×2 + 7.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000432295750857 + 7.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000432295750857[0m ×2 + 7.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001033960497800 + 7.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001033960497800[0m ×2 + 7.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001119202823541 + 7.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001119202823541[0m ×2 + 7.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001136433072509 + 7.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001136433072509[0m ×2 + 7.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000517692142049 + 7.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000517692142049[0m ×2 + 7.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000228813756526 + 7.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000228813756526[0m ×2 + 7.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000559493842397 + 7.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000559493842397[0m ×2 + 7.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000169096257104 + 7.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000169096257104[0m ×2 + 7.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000536743652615 + 7.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000536743652615[0m ×2 + 8.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000768358000777 + 8.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000768358000777[0m ×2 + 8.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000901986746853 + 8.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000901986746853[0m ×2 + 8.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001529737371579 + 8.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001529737371579[0m ×2 + 8.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000683305868590 + 8.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000683305868590[0m ×2 + 8.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015172709259 + 8.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015172709259[0m ×2 + 8.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000152655131308 + 8.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000152655131308[0m ×2 + 8.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000225699991295 + 8.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000225699991295[0m ×2 + 8.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000225870551557 + 8.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000225870551557[0m ×2 + 8.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000399928650830 + 8.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000399928650830[0m ×2 + 8.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000319997323533 + 8.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000319997323533[0m ×2 + 8.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000626416058968 + 8.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000626416058968[0m ×2 + 8.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000425670004279 + 8.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000425670004279[0m ×2 + 8.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000274589938965 + 8.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000274589938965[0m ×2 + 8.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000274887081892 + 8.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000274887081892[0m ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944196 ms (missed cycles : 3). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944196 ms (missed cycles : 3).[0m ×2 + 8.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000217091396290 + 8.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000217091396290[0m ×2 + 8.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000160913772579 + 8.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000160913772579[0m ×2 + 8.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000161194743850 + 8.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000161194743850[0m ×2 + 8.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000910793810830 + 8.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000910793810830[0m ×2 + 8.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000490230104983 + 8.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000490230104983[0m ×2 + 8.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000210387722672 + 8.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000210387722672[0m ×2 + 8.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000084910381083 + 8.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000084910381083[0m ×2 + 8.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009346013869 + 8.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009346013869[0m ×2 + 8.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031571257956 + 8.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031571257956[0m ×2 + 8.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000069466726697 + 8.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000069466726697[0m ×2 + 8.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018693322324 + 8.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018693322324[0m ×2 + 8.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000884320796387 ×2 + 8.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000884320796387[0m ×4 + 8.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000550665416575 + 8.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000550665416575[0m ×2 + 8.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000303841145311 + 8.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000303841145311[0m ×2 + 8.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000411926027595 + 8.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000411926027595[0m ×2 + 8.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000137752532375 + 8.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000137752532375[0m ×2 + 8.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000135781245922 + 8.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000135781245922[0m ×2 + 8.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000114039110761 + 8.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000114039110761[0m ×2 + 8.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000153650739264 ×2 + 8.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000153650739264[0m ×4 + 8.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000165840426251 + 8.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000165840426251[0m ×2 + 8.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007409578500 + 8.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007409578500[0m ×2 + 8.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006584058525 + 8.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006584058525[0m ×2 + 8.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004753711733 ×2 + 8.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004753711733[0m ×4 + 8.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020441418046 + 8.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020441418046[0m ×2 + 8.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000270190109699 + 8.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000270190109699[0m ×2 + 8.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000159610959706 + 8.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000159610959706[0m ×2 + 8.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001994328687 + 8.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001994328687[0m ×2 + 8.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000456682949249 + 8.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000456682949249[0m ×2 + 8.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000139262383633 + 8.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000139262383633[0m ×2 + 8.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000076569315248 + 8.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000076569315248[0m ×2 + 8.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037404825133 + 8.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037404825133[0m ×2 + 8.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032730643199 + 8.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032730643199[0m ×2 + 8.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025861747898 + 8.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025861747898[0m ×2 + 8.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019202222442 + 8.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019202222442[0m ×2 + 8.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083443923776 ×2 + 8.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083443923776[0m ×4 + 8.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025380255504 + 8.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025380255504[0m ×2 + 8.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077348714198 + 8.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077348714198[0m ×2 + 8.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000191125757479 + 8.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000191125757479[0m ×2 + 8.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000121904734855 + 8.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000121904734855[0m ×2 + 8.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000198015345425 + 8.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000198015345425[0m ×2 + 8.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000747370755118 + 8.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000747370755118[0m ×2 + 8.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000849623235695 + 8.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000849623235695[0m ×2 + 8.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000492112066201 + 8.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000492112066201[0m ×2 + 8.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000234416696934 + 8.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000234416696934[0m ×2 + 8.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000085729258164 + 8.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000085729258164[0m ×2 + 8.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000394848273748 + 8.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000394848273748[0m ×2 + 8.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001025067541545 + 8.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001025067541545[0m ×2 + 8.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000566779576245 + 8.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000566779576245[0m ×2 + 8.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000256067590017 + 8.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000256067590017[0m ×2 + 8.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031776236332 + 8.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031776236332[0m ×2 + 8.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001165039995003 + 8.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001165039995003[0m ×2 + 8.73sWARNcontroller_managerOverrun might occur, Total time : 2022.548 us (Expected < 1666.667 us) --> Read time : 244.722 us, Update time : 78.774 us, Write time : 1699.052 us + 8.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000752020575113 + 8.73sWARNros2_control_nodeOverrun might occur, Total time : 2022.548 us (Expected < 1666.667 us) --> Read time : 244.722 us, Update time : 78.774 us, Write time : 1699.052 us[0m ×2 + 8.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000752020575113[0m ×2 + 8.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000336413171484 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000336413171484[0m ×2 + 8.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000591862907519 + 8.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000591862907519[0m ×2 + 8.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000704915465276 + 8.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000704915465276[0m ×2 + 8.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000973100934327 + 8.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000973100934327[0m ×2 + 8.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001143053536412 + 8.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001143053536412[0m ×2 + 8.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001212690093411 + 8.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001212690093411[0m ×2 + 8.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001790800330470 + 8.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001790800330470[0m ×2 + 8.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002121816191220 + 8.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002121816191220[0m ×2 + 8.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001726145605615 + 8.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001726145605615[0m ×2 + 8.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001830594235174 + 8.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001830594235174[0m ×2 + 8.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001511704752869 + 8.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001511704752869[0m ×2 + 8.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001298881476064 + 8.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001298881476064[0m ×2 + 8.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001169001230298 + 8.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001169001230298[0m ×2 + 8.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001093928921336 + 8.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001093928921336[0m ×2 + 8.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001057828251893 + 8.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001057828251893[0m ×2 + 8.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001419233202776 + 8.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001419233202776[0m ×2 + 8.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001224333897338 + 8.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001224333897338[0m ×2 + 8.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001144214903435 + 8.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001144214903435[0m ×2 + 8.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001101287293365 + 8.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001101287293365[0m ×2 + 8.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001298664839495 + 8.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001298664839495[0m ×2 + 8.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001313749263274 + 8.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001313749263274[0m ×2 + 8.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367745626865 + 8.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367745626865[0m ×2 + 8.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001293694507211 + 8.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001293694507211[0m ×2 + 9.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001241517852319 + 9.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001241517852319[0m ×2 + 9.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000435101306494 + 9.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000435101306494[0m ×2 + 9.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000689239472044 + 9.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000689239472044[0m ×2 + 9.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000999615937800 + 9.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000999615937800[0m ×2 + 9.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001246673962275 + 9.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001246673962275[0m ×2 + 9.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001619652755460 + 9.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001619652755460[0m ×2 + 9.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002126697046464 + 9.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002126697046464[0m ×2 + 9.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001816408386496 + 9.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001816408386496[0m ×2 + 9.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001580041395245 + 9.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001580041395245[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001423221038070 + 9.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001423221038070[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001780680289645 + 9.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001780680289645[0m ×2 + 9.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001534745643257 + 9.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001534745643257[0m ×2 + 9.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001372855093279 + 9.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001372855093279[0m ×2 + 9.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001274815129298 + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760082 ms (missed cycles : 2). + 9.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001274815129298[0m ×2 + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760082 ms (missed cycles : 2).[0m ×2 + 9.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000426287978564 + 9.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000426287978564[0m ×2 + 9.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000826611664840 + 9.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000826611664840[0m ×2 + 9.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001676940597417 + 9.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001676940597417[0m ×2 + 9.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002074613061495 + 9.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002074613061495[0m ×2 + 9.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002455848299650 + 9.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002455848299650[0m ×2 + 9.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002030224696359 + 9.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002030224696359[0m ×2 + 9.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001728259427074 + 9.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001728259427074[0m ×2 + 9.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001519673827641 + 9.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001519673827641[0m ×2 + 9.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001900086985243 + 9.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001900086985243[0m ×2 + 9.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001618499876593 + 9.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001618499876593[0m ×2 + 9.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001435958528333 + 9.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001435958528333[0m ×2 + 9.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001442633244128 + 9.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001442633244128[0m ×2 + 9.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001896255945368 + 9.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001896255945368[0m ×2 + 9.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001942758311967 + 9.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001942758311967[0m ×2 + 9.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001659304087693 + 9.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001659304087693[0m ×2 + 9.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001482331823022 + 9.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001482331823022[0m ×2 + 9.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001875539611246 + 9.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001875539611246[0m ×2 + 9.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001608894217354 + 9.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001608894217354[0m ×2 + 9.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001435486979258 + 9.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001435486979258[0m ×2 + 9.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001335345043458 + 9.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001335345043458[0m ×2 + 9.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001443299601485 + 9.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001443299601485[0m ×2 + 9.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002016447023781 + 9.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002016447023781[0m ×2 + 9.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001749001894064 + 9.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001749001894064[0m ×2 + 9.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001566100612604 + 9.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001566100612604[0m ×2 + 9.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001551296545072 + 9.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001551296545072[0m ×2 + 9.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001768180399259 + 9.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001768180399259[0m ×2 + 9.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001606962316425 + 9.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001606962316425[0m ×2 + 9.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001499040880336 + 9.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001499040880336[0m ×2 + 9.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001431696996912 + 9.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001431696996912[0m ×2 + 9.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002025233728382 + 9.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002025233728382[0m ×2 + 9.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001757242158000 + 9.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001757242158000[0m ×2 + 9.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001585840501660 + 9.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001585840501660[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001466805387321 + 9.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001466805387321[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001547993564057 + 9.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001547993564057[0m ×2 + 9.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002131980623610 + 9.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002131980623610[0m ×2 + 9.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001850055962935 + 9.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001850055962935[0m ×2 + 9.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001657413909065 + 9.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001657413909065[0m ×2 + 9.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001534304440626 + 9.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001534304440626[0m ×2 + 9.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002102750693958 + 9.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002102750693958[0m ×2 + 9.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002137809505482 + 9.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002137809505482[0m ×2 + 9.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001836337979562 + 9.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001836337979562[0m ×2 + 9.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001557493883881 + 9.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001557493883881[0m ×2 + 9.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001471900588852 + 9.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001471900588852[0m ×2 + 9.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002078231877616 + 9.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002078231877616[0m ×2 + 9.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001446106458392 + 9.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001446106458392[0m ×2 + 9.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002123016713194 + 9.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002123016713194[0m ×2 + 9.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001886055613313 + 9.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001886055613313[0m ×2 + 9.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002372475103274 + 9.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002372475103274[0m ×2 + 9.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002009272184197 + 9.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002009272184197[0m ×2 + 9.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001765769579109 + 9.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001765769579109[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001617807550907 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001617807550907[0m ×2 + 9.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001844271187247 + 9.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001844271187247[0m ×2 + 9.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001734328806965 + 9.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001734328806965[0m ×2 + 9.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002283859553786 + 9.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002283859553786[0m ×2 + 9.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001961831141531 + 9.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001961831141531[0m ×2 + 9.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002189600449915 + 9.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002189600449915[0m ×2 + 9.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001887005751469 + 9.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001887005751469[0m ×2 + 9.75sWARNcontroller_managerOverrun might occur, Total time : 3083.900 us (Expected < 1666.667 us) --> Read time : 144.177 us, Update time : 1880.052 us, Write time : 1059.671 us + 9.75sWARNros2_control_nodeOverrun might occur, Total time : 3083.900 us (Expected < 1666.667 us) --> Read time : 144.177 us, Update time : 1880.052 us, Write time : 1059.671 us[0m ×2 + 9.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001691908110521 + 9.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001691908110521[0m ×2 + 9.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001249427630497 + 9.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001249427630497[0m ×2 + 9.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001714562256975 + 9.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001714562256975[0m ×2 + 9.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001838458982003 + 9.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001838458982003[0m ×2 + 9.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002463077982938 + 9.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002463077982938[0m ×2 + 9.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002822345233075 + 9.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002822345233075[0m ×2 + 9.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002189116882546 + 9.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002189116882546[0m ×2 + 9.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001925748500007 + 9.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001925748500007[0m ×2 + 9.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437876654241 + 9.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437876654241[0m ×2 + 9.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002076119324096 + 9.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002076119324096[0m ×2 + 9.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001494505670716 + 9.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001494505670716[0m ×2 + 9.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001470874440153 + 9.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001470874440153[0m ×2 + 9.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002144654513005 + 9.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002144654513005[0m ×2 + 9.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002214121785857 + 9.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002214121785857[0m ×2 + 9.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001940780412783 + 9.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001940780412783[0m ×2 + 9.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001762093176873 + 9.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001762093176873[0m ×2 + 9.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002328114307279 + 9.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002328114307279[0m ×2 + 9.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002006102626109 + 9.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002006102626109[0m ×2 + 9.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001796510768384 + 9.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001796510768384[0m ×2 + 9.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002347327895495 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002347327895495[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002014551172719 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002014551172719[0m ×2 + 9.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001800277271308 + 9.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001800277271308[0m ×2 + 9.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002352486885928 + 9.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002352486885928[0m ×2 + 10.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002014336332235 + 10.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002014336332235[0m ×2 + 10.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002486107281963 + 10.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002486107281963[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002098186568529 + 10.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002098186568529[0m ×2 + 10.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001848859594896 + 10.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001848859594896[0m ×2 + 10.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001787877478815 + 10.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001787877478815[0m ×2 + 10.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002393739800449 + 10.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002393739800449[0m ×2 + 10.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002771507618195 + 10.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002771507618195[0m ×2 + 10.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002291652457711 + 10.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002291652457711[0m ×2 + 10.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002674664383795 + 10.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002674664383795[0m ×2 + 10.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001865475753835 + 10.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001865475753835[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001994814013487 + 10.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001994814013487[0m ×2 + 10.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001782226087774 + 10.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001782226087774[0m ×2 + 10.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001796651816826 + 10.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001796651816826[0m ×2 + 10.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002419087435505 + 10.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002419087435505[0m ×2 + 10.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002111280385953 + 10.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002111280385953[0m ×2 + 10.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002601402115824 + 10.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002601402115824[0m ×2 + 10.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002731434660616 + 10.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002731434660616[0m ×2 + 10.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002287330384279 + 10.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002287330384279[0m ×2 + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797243 ms (missed cycles : 3). + 10.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797243 ms (missed cycles : 3).[0m ×2 + 10.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002687281481142 + 10.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002687281481142[0m ×2 + 10.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001671015789919 + 10.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001671015789919[0m ×2 + 10.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002367173502012 + 10.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002367173502012[0m ×2 + 10.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002131271326004 + 10.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002131271326004[0m ×2 + 10.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002659479308353 + 10.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002659479308353[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002977801452649 + 10.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002977801452649[0m ×2 + 10.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002451032032446 + 10.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002451032032446[0m ×2 + 10.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002900026539452 + 10.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002900026539452[0m ×2 + 10.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002378947374384 + 10.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002378947374384[0m ×2 + 10.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002743830060440 + 10.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002743830060440[0m ×2 + 10.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002264542691530 + 10.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002264542691530[0m ×2 + 10.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002668483603097 + 10.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002668483603097[0m ×2 + 10.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002220873288724 + 10.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002220873288724[0m ×2 + 10.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002641284762038 + 10.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002641284762038[0m ×2 + 10.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002885839070939 + 10.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002885839070939[0m ×2 + 10.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002360442449764 + 10.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002360442449764[0m ×2 + 10.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002733288208050 + 10.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002733288208050[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002281243544801 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002281243544801[0m ×2 + 10.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001975324818733 + 10.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001975324818733[0m ×2 + 10.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002506995353794 + 10.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002506995353794[0m ×2 + 10.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002104533848928 + 10.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002104533848928[0m ×2 + 10.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002002793886113 + 10.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002002793886113[0m ×2 + 10.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002458197241674 + 10.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002458197241674[0m ×2 + 10.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001522871338957 + 10.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001522871338957[0m ×2 + 10.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001946808702666 + 10.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001946808702666[0m ×2 + 10.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002655613030543 + 10.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002655613030543[0m ×2 + 10.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003076992679905 + 10.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003076992679905[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003295313133636 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003295313133636[0m ×2 + 10.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003402102860599 + 10.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003402102860599[0m ×2 + 10.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003434314980232 + 10.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003434314980232[0m ×2 + 10.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003506609486585 + 10.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003506609486585[0m ×2 + 10.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002752047041962 + 10.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002752047041962[0m ×2 + 10.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002978797492641 + 10.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002978797492641[0m ×2 + 10.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001573597665590 + 10.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001573597665590[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001725629318400 + 10.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001725629318400[0m ×2 + 10.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001903145942250 + 10.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001903145942250[0m ×2 + 10.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002586179884713 + 10.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002586179884713[0m ×2 + 10.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003007956665715 + 10.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003007956665715[0m ×2 + 10.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003249826374388 + 10.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003249826374388[0m ×2 + 10.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003371481640078 + 10.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003371481640078[0m ×2 + 10.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003421581071447 + 10.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003421581071447[0m ×2 + 10.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002703507864528 + 10.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002703507864528[0m ×2 + 10.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002963914638569 + 10.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002963914638569[0m ×2 + 10.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003214946596516 + 10.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003214946596516[0m ×2 + 10.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002566028855423 + 10.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002566028855423[0m ×2 + 10.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002877951805124 + 10.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002877951805124[0m ×2 + 10.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003083279073025 + 10.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003083279073025[0m ×2 + 10.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002301410125234 + 10.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002301410125234[0m ×2 + 10.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002758093587440 + 10.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002758093587440[0m ×2 + 10.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003225154474118 + 10.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003225154474118[0m ×2 + 10.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002613299048677 + 10.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002613299048677[0m ×2 + 10.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002943476719256 + 10.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002943476719256[0m ×2 + 10.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003154770249087 + 10.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003154770249087[0m ×2 + 10.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003281802409031 + 10.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003281802409031[0m ×2 + 10.79sWARNcontroller_managerOverrun might occur, Total time : 4854.336 us (Expected < 1666.667 us) --> Read time : 186.529 us, Update time : 4101.739 us, Write time : 566.068 us + 10.79sWARNros2_control_nodeOverrun might occur, Total time : 4854.336 us (Expected < 1666.667 us) --> Read time : 186.529 us, Update time : 4101.739 us, Write time : 566.068 us[0m ×2 + 10.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003321758918152 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003321758918152[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001833024095585 + 10.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001833024095585[0m ×2 + 10.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002520858067187 + 10.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002520858067187[0m ×2 + 10.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002961078581563 + 10.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002961078581563[0m ×2 + 10.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003831831242751 + 10.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003831831242751[0m ×2 + 10.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002691483689506 + 10.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002691483689506[0m ×2 + 10.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003026585184307 + 10.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003026585184307[0m ×2 + 10.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003233013283589 + 10.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003233013283589[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002273464746924 + 10.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002273464746924[0m ×2 + 10.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002735714269331 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002735714269331[0m ×2 + 10.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003037677018947 + 10.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003037677018947[0m ×2 + 10.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003225254646549 + 10.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003225254646549[0m ×2 + 10.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003334275807798 + 10.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003334275807798[0m ×2 + 10.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002656061070331 + 10.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002656061070331[0m ×2 + 10.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002157756753409 + 10.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002157756753409[0m ×2 + 10.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002701228792438 + 10.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002701228792438[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003051606886436 + 10.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003051606886436[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003920631204647 + 10.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003920631204647[0m ×2 + 10.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003806100688399 + 10.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003806100688399[0m ×2 + 10.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002961043411659 + 10.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002961043411659[0m ×2 + 10.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003147232058472 + 10.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003147232058472[0m ×2 + 11.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003267164818692 + 11.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003267164818692[0m ×2 + 11.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003522060468817 + 11.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003522060468817[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003499497732832 + 11.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003499497732832[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002449268312502 + 11.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002449268312502[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002108723188322 + 11.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002108723188322[0m ×2 + 11.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002694741227056 + 11.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002694741227056[0m ×2 + 11.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003070702126634 + 11.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003070702126634[0m ×2 + 11.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003296669875457 + 11.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003296669875457[0m ×2 + 11.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003421131670404 + 11.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003421131670404[0m ×2 + 11.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003483167254696 + 11.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003483167254696[0m ×2 + 11.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003502019057422 + 11.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003502019057422[0m ×2 + 11.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003497232845189 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003497232845189[0m ×2 + 11.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482803848001 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482803848001[0m ×2 + 11.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003466743727431 + 11.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003466743727431[0m ×2 + 11.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003451031117805 + 11.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003451031117805[0m ×2 + 11.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003441586506446 + 11.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003441586506446[0m ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626246 ms (missed cycles : 2). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626246 ms (missed cycles : 2).[0m ×2 + 11.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003428998340266 + 11.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003428998340266[0m ×2 + 11.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001819063431961 + 11.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001819063431961[0m ×2 + 11.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001964276929018 + 11.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001964276929018[0m ×2 + 11.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002666172505245 + 11.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002666172505245[0m ×2 + 11.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003104566227107 + 11.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003104566227107[0m ×2 + 11.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980490874327 + 11.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980490874327[0m ×2 + 11.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002799288233970 + 11.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002799288233970[0m ×2 + 11.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002310705456797 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002310705456797[0m ×2 + 11.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002840481307669 + 11.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002840481307669[0m ×2 + 11.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002352408034210 + 11.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002352408034210[0m ×2 + 11.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003229089069855 + 11.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003229089069855[0m ×2 + 11.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004795884852295 + 11.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004795884852295[0m ×2 + 11.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004373465477794 + 11.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004373465477794[0m ×2 + 11.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004047099500363 + 11.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004047099500363[0m ×2 + 11.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003808186087024 + 11.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003808186087024[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003640550411830 + 11.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003640550411830[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003528756576448 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003528756576448[0m ×2 + 11.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003458254231804 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003458254231804[0m ×2 + 11.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003417440748180 + 11.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003417440748180[0m ×2 + 11.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003396374676021 + 11.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003396374676021[0m ×2 + 11.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003387998068140 + 11.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003387998068140[0m ×2 + 11.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003388564649867 + 11.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003388564649867[0m ×2 + 11.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003391291723257 + 11.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003391291723257[0m ×2 + 11.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267027178641 + 11.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267027178641[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003941909191874 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003941909191874[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003241490097718 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003241490097718[0m ×2 + 11.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004753623475959 + 11.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004753623475959[0m ×2 + 11.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004304775718808 + 11.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004304775718808[0m ×2 + 11.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980675571316 + 11.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980675571316[0m ×2 + 11.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003751546681066 + 11.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003751546681066[0m ×2 + 11.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004627819573771 + 11.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004627819573771[0m ×2 + 11.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004147602526854 + 11.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004147602526854[0m ×2 + 11.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003816881795023 + 11.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003816881795023[0m ×2 + 11.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003603186558410 + 11.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003603186558410[0m ×2 + 11.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003473343859120 + 11.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003473343859120[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003400669215219 + 11.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003400669215219[0m ×2 + 11.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365329783946 + 11.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365329783946[0m ×2 + 11.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003351590809097 + 11.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003351590809097[0m ×2 + 11.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003353805692182 + 11.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003353805692182[0m ×2 + 11.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004728582351809 + 11.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004728582351809[0m ×2 + 11.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004226106688723 + 11.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004226106688723[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004481767541362 + 11.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004481767541362[0m ×2 + 11.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004034670477066 + 11.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004034670477066[0m ×2 + 11.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003212604172460 + 11.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003212604172460[0m ×2 + 11.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004705728611351 + 11.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004705728611351[0m ×2 + 11.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004299125927059 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004299125927059[0m ×2 + 11.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005344081916134 + 11.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005344081916134[0m ×2 + 11.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004600573129245 + 11.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004600573129245[0m ×2 + 11.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004084810455598 + 11.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004084810455598[0m ×2 + 11.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004555324826481 + 11.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004555324826481[0m ×2 + 11.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036334761882 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036334761882[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003698449751962 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003698449751962[0m ×2 + 11.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003490890294414 + 11.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003490890294414[0m ×2 + 11.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004733521987702 + 11.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004733521987702[0m ×2 + 11.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004870997186764 + 11.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004870997186764[0m ×2 + 11.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004248038104803 + 11.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004248038104803[0m ×2 + 11.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833173896809 + 11.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833173896809[0m ×2 + 11.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003570783282723 + 11.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003570783282723[0m ×2 + 11.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004772710877077 + 11.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004772710877077[0m ×2 + 11.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004177860857449 + 11.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004177860857449[0m ×2 + 11.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004645994392117 + 11.81sWARNcontroller_managerOverrun might occur, Total time : 1943.594 us (Expected < 1666.667 us) --> Read time : 321.385 us, Update time : 874.153 us, Write time : 748.056 us + 11.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004645994392117[0m ×2 + 11.82sWARNros2_control_nodeOverrun might occur, Total time : 1943.594 us (Expected < 1666.667 us) --> Read time : 321.385 us, Update time : 874.153 us, Write time : 748.056 us[0m ×2 + 11.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004075985215509 + 11.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004075985215509[0m ×2 + 11.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003133208204992 + 11.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003133208204992[0m ×2 + 11.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003687749634094 + 11.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003687749634094[0m ×2 + 11.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004154870102441 + 11.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004154870102441[0m ×2 + 11.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002985777965145 + 11.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002985777965145[0m ×2 + 11.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003783366101506 + 11.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003783366101506[0m ×2 + 11.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005104610096728 + 11.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005104610096728[0m ×2 + 11.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005877552259698 + 11.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005877552259698[0m ×2 + 11.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006282947509616 + 11.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006282947509616[0m ×2 + 11.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006418960507375 + 11.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006418960507375[0m ×2 + 11.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005195064543545 + 11.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005195064543545[0m ×2 + 11.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004356664922238 + 11.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004356664922238[0m ×2 + 11.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005152079509723 + 11.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005152079509723[0m ×2 + 11.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004309570947747 + 11.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004309570947747[0m ×2 + 11.99sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291361 ms (missed cycles : 2). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291361 ms (missed cycles : 2).[0m ×2 + 12.65sERRORobjective_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. ×9 + 12.95sWARNcontroller_managerOverrun might occur, Total time : 1784.287 us (Expected < 1666.667 us) --> Read time : 298.185 us, Update time : 276.013 us, Write time : 1210.089 us + 12.95sWARNros2_control_nodeOverrun might occur, Total time : 1784.287 us (Expected < 1666.667 us) --> Read time : 298.185 us, Update time : 276.013 us, Write time : 1210.089 us[0m ×2 + 13.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127331 ms (missed cycles : 3). + 13.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127331 ms (missed cycles : 3).[0m ×2 + 13.37sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures" + 13.37sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures"[0m ×2 + 13.88sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 13.88sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 14.16sWARNcontroller_managerOverrun might occur, Total time : 9697.830 us (Expected < 1666.667 us) --> Read time : 221.530 us, Update time : 8854.970 us, Write time : 621.330 us + 14.16sWARNros2_control_nodeOverrun might occur, Total time : 9697.830 us (Expected < 1666.667 us) --> Read time : 221.530 us, Update time : 8854.970 us, Write time : 621.330 us[0m ×2 + 14.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.993094 ms (missed cycles : 5). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.993094 ms (missed cycles : 5).[0m ×2 + 15.17sWARNcontroller_managerOverrun might occur, Total time : 1750.425 us (Expected < 1666.667 us) --> Read time : 238.181 us, Update time : 80.044 us, Write time : 1432.200 us + 15.17sWARNros2_control_nodeOverrun might occur, Total time : 1750.425 us (Expected < 1666.667 us) --> Read time : 238.181 us, Update time : 80.044 us, Write time : 1432.200 us[0m ×2 + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245368 ms (missed cycles : 4). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245368 ms (missed cycles : 4).[0m ×2 + 15.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001139270660 + 15.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001139270660[0m ×2 + 15.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000302869914482 + 15.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000302869914482[0m ×2 + 15.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000184154783585 + 15.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000184154783585[0m ×2 + 15.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000319895610696 + 15.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000319895610696[0m ×2 + 15.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000182121164569 + 15.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000182121164569[0m ×2 + 15.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000264123688619 + 15.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000264123688619[0m ×2 + 15.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000751209590931 + 15.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000751209590931[0m ×2 + 15.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000171891457158 + 15.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000171891457158[0m ×2 + 15.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000047792012995 + 15.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000047792012995[0m ×2 + 15.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023381942458 ×2 + 15.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023381942458[0m ×4 + 15.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059433834607 + 15.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059433834607[0m ×2 + 15.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000046391378664 + 15.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000046391378664[0m ×2 + 15.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036939286614 + 15.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036939286614[0m ×2 + 15.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039585010982 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039585010982[0m ×2 + 15.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030079302846 + 15.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030079302846[0m ×2 + 15.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000196625068025 + 15.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000196625068025[0m ×2 + 15.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000576960738896 + 15.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000576960738896[0m ×2 + 15.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000333667794171 ×2 + 15.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000333667794171[0m ×4 + 15.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000169062829899 + 15.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000169062829899[0m ×2 + 15.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013291651213053 + 15.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013291651213053[0m ×2 + 15.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008876738748998 + 15.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008876738748998[0m ×2 + 15.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005201708223332 ×2 + 15.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005201708223332[0m ×4 + 15.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002452578055857 + 15.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002452578055857[0m ×2 + 15.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000751763480549 + 15.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000751763480549[0m ×2 + 15.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006273213882421 + 15.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006273213882421[0m ×2 + 15.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003222514200552 + 15.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003222514200552[0m ×2 + 15.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004415432503774 + 15.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004415432503774[0m ×2 + 15.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002381589385585 + 15.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002381589385585[0m ×2 + 15.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000753982353398 + 15.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000753982353398[0m ×2 + 15.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000058898503431 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000058898503431[0m ×2 + 15.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000774321260920 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000774321260920[0m ×2 + 15.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000710361042371 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000710361042371[0m ×2 + 16.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004780879270 + 16.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004780879270[0m ×2 + 16.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004974458144 + 16.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004974458144[0m ×2 + 16.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029423875407 + 16.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029423875407[0m ×2 + 16.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000127351524859 + 16.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000127351524859[0m ×2 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000085453912138 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000085453912138[0m ×2 + 16.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000036269818565 + 16.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000036269818565[0m ×2 + 16.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000583271837975 + 16.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000583271837975[0m ×2 + 16.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000343409110396 + 16.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000343409110396[0m ×2 + 16.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036562344215523 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036562344215523[0m ×2 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022193594922399 + 16.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022193594922399[0m ×2 + 16.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012134796877229 ×2 + 16.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012134796877229[0m ×4 + 16.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007131850095387 + 16.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007131850095387[0m ×2 + 16.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002610386671717 + 16.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002610386671717[0m ×2 + 16.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136337712699 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136337712699[0m ×2 + 16.17sWARNcontroller_managerOverrun might occur, Total time : 4188.584 us (Expected < 1666.667 us) --> Read time : 1994.817 us, Update time : 748.746 us, Write time : 1445.021 us + 16.18sWARNros2_control_nodeOverrun might occur, Total time : 4188.584 us (Expected < 1666.667 us) --> Read time : 1994.817 us, Update time : 748.746 us, Write time : 1445.021 us[0m ×2 + 16.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001544593305686 + 16.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001544593305686[0m ×2 + 16.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001950063780877 + 16.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001950063780877[0m ×2 + 16.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000812032049151 + 16.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000812032049151[0m ×2 + 16.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002940432536399 + 16.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002940432536399[0m ×2 + 16.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001511980192390 + 16.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001511980192390[0m ×2 + 16.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000601841626971 + 16.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000601841626971[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000108938058894 + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000108938058894[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000109394477855 + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000109394477855[0m ×2 + 16.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000195725998747 + 16.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000195725998747[0m ×2 + 16.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000332853370284 + 16.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000332853370284[0m ×2 + 16.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000367321001072 + 16.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000367321001072[0m ×2 + 16.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000261235457478 + 16.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000261235457478[0m ×2 + 16.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000244632249868 + 16.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000244632249868[0m ×2 + 16.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000086486146882 ×2 + 16.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000086486146882[0m ×4 + 16.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000079864188936 + 16.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000079864188936[0m ×2 + 16.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041292362934 + 16.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041292362934[0m ×2 + 16.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039004892147 + 16.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039004892147[0m ×2 + 16.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000068041517939 + 16.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000068041517939[0m ×2 + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917793 ms (missed cycles : 3). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917793 ms (missed cycles : 3).[0m ×2 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000131542154504 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000131542154504[0m ×2 + 16.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000186936436383 + 16.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000186936436383[0m ×2 + 16.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000335541023176 + 16.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000335541023176[0m ×2 + 16.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000336104643410 + 16.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000336104643410[0m ×2 + 16.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000821597060072 + 16.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000821597060072[0m ×2 + 16.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027496492474196 + 16.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027496492474196[0m ×2 + 16.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039574956169151 + 16.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039574956169151[0m ×2 + 16.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028970391218755 + 16.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028970391218755[0m ×2 + 16.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017082573371536 + 16.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017082573371536[0m ×2 + 16.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013235147710242 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013235147710242[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016174039218870 + 16.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016174039218870[0m ×2 + 16.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019417214361728 + 16.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019417214361728[0m ×2 + 16.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017948874087392 + 16.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017948874087392[0m ×2 + 16.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016357099304429 + 16.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016357099304429[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014825135144499 + 16.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014825135144499[0m ×2 + 16.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019548832712963 + 16.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019548832712963[0m ×2 + 16.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015662813668452 + 16.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015662813668452[0m ×2 + 16.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018068164049483 + 16.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018068164049483[0m ×2 + 16.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013763825462724 + 16.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013763825462724[0m ×2 + 16.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015327528669351 + 16.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015327528669351[0m ×2 + 16.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015559802228098 + 16.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015559802228098[0m ×2 + 16.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020172129416886 + 16.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020172129416886[0m ×2 + 16.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017517181680407 + 16.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017517181680407[0m ×2 + 16.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007703040571360 + 16.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007703040571360[0m ×2 + 16.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015275772469678 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015275772469678[0m ×2 + 16.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000572051960333 + 16.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000572051960333[0m ×2 + 16.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019319982644392 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019319982644392[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012909330657266 + 16.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012909330657266[0m ×2 + 16.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014654756824763 + 16.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014654756824763[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021173399654686 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021173399654686[0m ×2 + 16.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017059075993133 + 16.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017059075993133[0m ×2 + 16.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018814925469366 + 16.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018814925469366[0m ×2 + 16.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010596950970628 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010596950970628[0m ×2 + 16.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017647193297233 + 16.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017647193297233[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021534530241527 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021534530241527[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024494524909517 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024494524909517[0m ×2 + 16.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017293852304408 + 16.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017293852304408[0m ×2 + 16.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015118483442852 + 16.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015118483442852[0m ×2 + 16.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011853413853235 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011853413853235[0m ×2 + 16.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004568869876211 + 16.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004568869876211[0m ×2 + 16.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003191607269795 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003191607269795[0m ×2 + 16.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000593659431349 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000593659431349[0m ×2 + 16.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002185055887158 + 16.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002185055887158[0m ×2 + 16.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002736138780238 + 16.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002736138780238[0m ×2 + 16.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000133715357723 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000133715357723[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001159883717753 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001159883717753[0m ×2 + 16.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002231018821226 + 16.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002231018821226[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000913313291701 + 16.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000913313291701[0m ×2 + 16.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002109220576000 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002109220576000[0m ×2 + 16.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002717594805263 + 16.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002717594805263[0m ×2 + 16.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002979848143693 + 16.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002979848143693[0m ×2 + 16.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001514128449292 + 16.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001514128449292[0m ×2 + 16.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002306295374453 + 16.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002306295374453[0m ×2 + 16.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002734435890221 + 16.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002734435890221[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004142046701429 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004142046701429[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001781532747325 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001781532747325[0m ×2 + 16.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002886437852850 + 16.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002886437852850[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001215273750220 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001215273750220[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001825479405354 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001825479405354[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003177850954763 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003177850954763[0m ×2 + 17.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005693477771125 + 17.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005693477771125[0m ×2 + 17.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002934797453266 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002934797453266[0m ×2 + 17.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002211861342383 + 17.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002211861342383[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000653302812437 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000653302812437[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000805564948882 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000805564948882[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000550745383747 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000550745383747[0m ×2 + 17.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000517717369457 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000517717369457[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041398101845 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041398101845[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000213138452948 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000213138452948[0m ×2 + 17.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001441398078988 + 17.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001441398078988[0m ×2 + 17.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003424548781525 + 17.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003424548781525[0m ×2 + 17.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003450942349803 + 17.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003450942349803[0m ×2 + 17.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001882737324392 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001882737324392[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003189312730081 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003189312730081[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003426376236239 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003426376236239[0m ×2 + 17.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001696453644658 + 17.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001696453644658[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000604090768748 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000604090768748[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000611766914240 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000611766914240[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002094199880223 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002094199880223[0m ×2 + 17.21sWARNcontroller_managerOverrun might occur, Total time : 6767.798 us (Expected < 1666.667 us) --> Read time : 212.610 us, Update time : 5913.587 us, Write time : 641.601 us + 17.21sWARNros2_control_nodeOverrun might occur, Total time : 6767.798 us (Expected < 1666.667 us) --> Read time : 212.610 us, Update time : 5913.587 us, Write time : 641.601 us[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001285967628141 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001285967628141[0m ×2 + 17.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002659052767795 + 17.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002659052767795[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002983575461509 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002983575461509[0m ×2 + 17.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002153456702233 + 17.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002153456702233[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002551016511430 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002551016511430[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117731619129 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117731619129[0m ×2 + 17.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003784589574232 + 17.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003784589574232[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003167133935335 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003167133935335[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002848679637771 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002848679637771[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002643941800743 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002643941800743[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000974322724594 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000974322724594[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002188185311881 + 17.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002188185311881[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000834428946954 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000834428946954[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002058115172332 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002058115172332[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002048615521845 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002048615521845[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000692943187597 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000692943187597[0m ×2 + 17.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000664432562909 + 17.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000664432562909[0m ×2 + 17.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002961951412 + 17.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002961951412[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109978423657 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109978423657[0m ×2 + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793952 ms (missed cycles : 5). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793952 ms (missed cycles : 5).[0m ×2 + 17.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002496481729371 + 17.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002496481729371[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122172720191 + 17.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122172720191[0m ×2 + 17.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000495899203646 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000495899203646[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000444181816270 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000444181816270[0m ×2 + 17.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000334444613911 + 17.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000334444613911[0m ×2 + 17.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000104397245334 + 17.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000104397245334[0m ×2 + 17.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062091613784 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062091613784[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062155744631 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062155744631[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004554295626931 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004554295626931[0m ×2 + 17.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003428936864860 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003428936864860[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001914829384612 + 17.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001914829384612[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001529526086732 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001529526086732[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002118412088267 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002118412088267[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002952108642783 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002952108642783[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004137602523835 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004137602523835[0m ×2 + 17.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004250579510031 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004250579510031[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001237379780571 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001237379780571[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001976202279010 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001976202279010[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001264989985983 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001264989985983[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002978009668949 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002978009668949[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001832723381086 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001832723381086[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003869184072015 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003869184072015[0m ×2 + 17.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003691151976701 + 17.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003691151976701[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001709882294164 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001709882294164[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003447163960671 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003447163960671[0m ×2 + 17.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001584499398289 + 17.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001584499398289[0m ×2 + 17.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000436695230628 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000436695230628[0m ×2 + 17.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000209217545129 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000209217545129[0m ×2 + 17.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001970120898113 + 17.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001970120898113[0m ×2 + 17.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004401002765926 + 17.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004401002765926[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002311439111999 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002311439111999[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001005855707009 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001005855707009[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001005803543106 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001005803543106[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000212812409174 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000212812409174[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000389253518859 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000389253518859[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000801559296481 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000801559296481[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000310900779808 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000310900779808[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025043340077 + 17.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025043340077[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000182140471667 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000182140471667[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000276105831813 + 17.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000276105831813[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005945992672424 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005945992672424[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005538384889978 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005538384889978[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005218359320309 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005218359320309[0m ×2 + 17.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003019344799508 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003019344799508[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001846051187690 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001846051187690[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003292400549 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003292400549[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000369052282320 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000369052282320[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000553714864218 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000553714864218[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000500217802126 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000500217802126[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001726058525208 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001726058525208[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000924175957733 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000924175957733[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000701350556774 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000701350556774[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002042321530767 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002042321530767[0m ×2 + 18.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003799885782522 + 18.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003799885782522[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002092078826843 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002092078826843[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002189949058025 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002189949058025[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001027359589344 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001027359589344[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001438729953706 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001438729953706[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000823308771684 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000823308771684[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001814401763137 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001814401763137[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002675888919966 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002675888919966[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004347495913012 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004347495913012[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002933205085144 + 18.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002933205085144[0m ×2 + 18.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002352330272748 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002352330272748[0m ×2 + 18.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002878364970724 + 18.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002878364970724[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003081147449177 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003081147449177[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002740110502284 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002740110502284[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000282241682809 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000282241682809[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002361274239127 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002361274239127[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003655760217708 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003655760217708[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005465228260351 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005465228260351[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005726797869266 + 18.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005726797869266[0m ×2 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002931064764967 + 18.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002931064764967[0m ×2 + 18.22sWARNcontroller_managerOverrun might occur, Total time : 1698.782 us (Expected < 1666.667 us) --> Read time : 297.934 us, Update time : 919.005 us, Write time : 481.843 us + 18.22sWARNros2_control_nodeOverrun might occur, Total time : 1698.782 us (Expected < 1666.667 us) --> Read time : 297.934 us, Update time : 919.005 us, Write time : 481.843 us[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000414316217377 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000414316217377[0m ×2 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001184835716106 + 18.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001184835716106[0m ×2 + 18.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003542880893663 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003542880893663[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002356266475526 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002356266475526[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002474758460177 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002474758460177[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002681213173100 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002681213173100[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003102696435006 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003102696435006[0m ×2 + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004384472052233 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004384472052233[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004897110393047 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004897110393047[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002706613653679 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002706613653679[0m ×2 + 18.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002671017146598 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002671017146598[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001101301515017 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001101301515017[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002886806620701 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002886806620701[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002777463112511 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002777463112511[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002777557954981 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002777557954981[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002613530706918 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002613530706918[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001165525161182 + 18.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001165525161182[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000175298609524 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000175298609524[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000068169269876 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000068169269876[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000291259558835 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000291259558835[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000386397598359 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000386397598359[0m ×2 + 18.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000284804003010 + 18.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000284804003010[0m ×2 + 18.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000429569621069 + 18.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000429569621069[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001278815287510 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001278815287510[0m ×2 + 18.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424087 ms (missed cycles : 3). + 18.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424087 ms (missed cycles : 3).[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003311636033532 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003311636033532[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001271750685896 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001271750685896[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002317807392535 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002317807392535[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001164942571831 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001164942571831[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000436361000441 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000436361000441[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000865325161540 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000865325161540[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002785503922866 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002785503922866[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004047681533298 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004047681533298[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866211688873 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866211688873[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866229642386 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866229642386[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001384423102336 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001384423102336[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000461815519818 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000461815519818[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001678130411149 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001678130411149[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002321379904362 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002321379904362[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003111933841697 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003111933841697[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003160847617842 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003160847617842[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003165857528260 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003165857528260[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003409630674972 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003409630674972[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001526364523707 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001526364523707[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000509516584727 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000509516584727[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000522333214196 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000522333214196[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000470114322093 + 18.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000470114322093[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000486699242715 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000486699242715[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007909669681446 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007909669681446[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004838835549274 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004838835549274[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004815972504637 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004815972504637[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003380724642146 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003380724642146[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001602076363956 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001602076363956[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000728398015417 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000728398015417[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011608641678 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011608641678[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000280285255815 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000280285255815[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001525336832997 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001525336832997[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000816027019834 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000816027019834[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001657645666588 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001657645666588[0m ×2 + 18.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002758671612047 + 18.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002758671612047[0m ×2 + 18.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110939078285 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110939078285[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002656607171730 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002656607171730[0m ×2 + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001975833627666 + 18.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001975833627666[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003541275903675 + 18.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003541275903675[0m ×2 + 18.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004516048798926 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004516048798926[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002591668077359 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002591668077359[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002286559057744 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002286559057744[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002649040802806 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002649040802806[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002859478286074 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002859478286074[0m ×2 + 18.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758966263079 + 18.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758966263079[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004317793736938 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004317793736938[0m ×2 + 19.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003513375162320 + 19.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003513375162320[0m ×2 + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001674096421092 + 19.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001674096421092[0m ×2 + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172658143290 + 19.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172658143290[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003368105867149 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003368105867149[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002877098077732 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002877098077732[0m ×2 + 19.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003631447222659 + 19.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003631447222659[0m ×2 + 19.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003011430372466 + 19.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003011430372466[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002901089138006 + 19.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002901089138006[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002898198392082 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002898198392082[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003809860964330 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003809860964330[0m ×2 + 19.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340336593264 + 19.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340336593264[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003424264332971 + 19.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003424264332971[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002338400124263 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002338400124263[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002006461279093 + 19.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002006461279093[0m ×2 + 19.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002922936368832 + 19.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002922936368832[0m ×2 + 19.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284217328632 + 19.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284217328632[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002840395841098 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002840395841098[0m ×2 + 19.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003656928093877 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003656928093877[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003076491336652 + 19.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003076491336652[0m ×2 + 19.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002928647784318 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002928647784318[0m ×2 + 19.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791405669027 + 19.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791405669027[0m ×2 + 19.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004266384289593 + 19.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004266384289593[0m ×2 + 19.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004932123436060 + 19.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004932123436060[0m ×2 + 19.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898084852733 + 19.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898084852733[0m ×2 + 19.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004331835852350 + 19.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004331835852350[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003395876885537 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003395876885537[0m ×2 + 19.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003810627451457 + 19.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003810627451457[0m ×2 + 19.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001771917638802 + 19.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001771917638802[0m ×2 + 19.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002674905088797 + 19.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002674905088797[0m ×2 + 19.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003676548902559 + 19.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003676548902559[0m ×2 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004361454756781 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004361454756781[0m ×2 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001260728575465 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001260728575465[0m ×2 + 19.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004420603700443 + 19.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004420603700443[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006387357984562 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006387357984562[0m ×2 + 19.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006016055680705 + 19.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006016055680705[0m ×2 + 19.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004480355657963 + 19.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004480355657963[0m ×2 + 19.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003345670711467 + 19.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003345670711467[0m ×2 + 19.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003648480615015 + 19.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003648480615015[0m ×2 + 19.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003864572473523 + 19.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003864572473523[0m ×2 + 19.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357416718259 + 19.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357416718259[0m ×2 + 19.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003271714023849 + 19.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003271714023849[0m ×2 + 19.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003524439376947 + 19.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003524439376947[0m ×2 + 19.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002834914954388 + 19.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002834914954388[0m ×2 + 19.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003400605377802 + 19.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003400605377802[0m ×2 + 19.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002843100584566 + 19.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002843100584566[0m ×2 + 19.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003608009757323 + 19.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003608009757323[0m ×2 + 19.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002946964143309 + 19.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002946964143309[0m ×2 + 19.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003623104081648 + 19.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003623104081648[0m ×2 + 19.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004021278422199 + 19.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004021278422199[0m ×2 + 19.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479263 ms (missed cycles : 3). + 19.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479263 ms (missed cycles : 3).[0m ×2 + 19.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004233232872638 + 19.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004233232872638[0m ×2 + 19.52sWARNcontroller_managerOverrun might occur, Total time : 4691.978 us (Expected < 1666.667 us) --> Read time : 225.361 us, Update time : 3845.077 us, Write time : 621.540 us + 19.52sWARNros2_control_nodeOverrun might occur, Total time : 4691.978 us (Expected < 1666.667 us) --> Read time : 225.361 us, Update time : 3845.077 us, Write time : 621.540 us[0m ×2 + 19.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003183354839731 + 19.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003183354839731[0m ×2 + 19.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003556728539196 + 19.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003556728539196[0m ×2 + 19.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003908728234168 + 19.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003908728234168[0m ×2 + 19.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003014804066129 + 19.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003014804066129[0m ×2 + 19.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191241641089 + 19.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191241641089[0m ×2 + 19.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354131399278 + 19.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354131399278[0m ×2 + 19.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408937877264 + 19.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408937877264[0m ×2 + 19.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003421893618069 + 19.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003421893618069[0m ×2 + 19.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003849720199568 + 19.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003849720199568[0m ×2 + 19.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004126641146963 + 19.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004126641146963[0m ×2 + 19.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004229496472693 + 19.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004229496472693[0m ×2 + 19.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004266908347318 + 19.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004266908347318[0m ×2 + 19.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004246453034111 + 19.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004246453034111[0m ×2 + 19.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004654297240309 + 19.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004654297240309[0m ×2 + 19.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004578552334501 + 19.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004578552334501[0m ×2 + 19.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002391204339786 + 19.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002391204339786[0m ×2 + 19.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003300328467071 + 19.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003300328467071[0m ×2 + 19.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002777585072013 + 19.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002777585072013[0m ×2 + 19.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003509354940474 + 19.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003509354940474[0m ×2 + 19.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003929743436422 + 19.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003929743436422[0m ×2 + 19.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005045854126574 + 19.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005045854126574[0m ×2 + 19.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002188790139441 + 19.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002188790139441[0m ×2 + 19.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001041649343094 + 19.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001041649343094[0m ×2 + 19.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003053529451142 + 19.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003053529451142[0m ×2 + 19.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003811005835552 + 19.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003811005835552[0m ×2 + 19.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004176686891194 + 19.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004176686891194[0m ×2 + 19.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006040446083982 + 19.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006040446083982[0m ×2 + 19.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007479195389017 + 19.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007479195389017[0m ×2 + 19.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004713594539472 + 19.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004713594539472[0m ×2 + 19.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004090695632428 + 19.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004090695632428[0m ×2 + 19.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002514505171388 + 19.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002514505171388[0m ×2 + 19.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811299949692 + 19.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811299949692[0m ×2 + 19.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003252564103318 + 19.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003252564103318[0m ×2 + 19.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001611725692244 + 19.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001611725692244[0m ×2 + 19.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003726240710689 + 19.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003726240710689[0m ×2 + 19.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003911748980066 + 19.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003911748980066[0m ×2 + 19.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003081162047677 + 19.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003081162047677[0m ×2 + 19.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003214490491630 + 19.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003214490491630[0m ×2 + 19.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002167469390739 + 19.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002167469390739[0m ×2 + 19.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003132842817838 + 19.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003132842817838[0m ×2 + 19.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003684378236574 + 19.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003684378236574[0m ×2 + 19.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005690218927153 + 19.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005690218927153[0m ×2 + 20.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005090586674311 + 20.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005090586674311[0m ×2 + 20.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005394434920980 + 20.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005394434920980[0m ×2 + 20.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004867649537702 + 20.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004867649537702[0m ×2 + 20.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004502213878589 + 20.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004502213878589[0m ×2 + 20.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004258121425597 + 20.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004258121425597[0m ×2 + 20.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103311943383 + 20.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103311943383[0m ×2 + 20.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004618298351582 + 20.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004618298351582[0m ×2 + 20.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004701597696315 + 20.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004701597696315[0m ×2 + 20.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004290454635512 + 20.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004290454635512[0m ×2 + 20.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004200157892418 + 20.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004200157892418[0m ×2 + 20.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103096420594 + 20.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103096420594[0m ×2 + 20.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004016859156854 + 20.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004016859156854[0m ×2 + 20.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002230731968099 + 20.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002230731968099[0m ×2 + 20.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003052900955358 + 20.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003052900955358[0m ×2 + 20.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002676855624163 + 20.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002676855624163[0m ×2 + 20.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003700337693348 + 20.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003700337693348[0m ×2 + 20.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005547630816930 + 20.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005547630816930[0m ×2 + 20.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004928729690406 + 20.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004928729690406[0m ×2 + 20.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004513898386996 + 20.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004513898386996[0m ×2 + 20.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004185479005457 + 20.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004185479005457[0m ×2 + 20.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004005055889933 + 20.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004005055889933[0m ×2 + 20.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003924245677655 + 20.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003924245677655[0m ×2 + 20.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003886664006563 + 20.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003886664006563[0m ×2 + 20.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003861932685466 + 20.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003861932685466[0m ×2 + 20.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004857608903198 + 20.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004857608903198[0m ×2 + 20.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004438793875735 + 20.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004438793875735[0m ×2 + 20.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004166553864187 + 20.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004166553864187[0m ×2 + 20.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003992240452479 + 20.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003992240452479[0m ×2 + 20.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004972396983735 + 20.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004972396983735[0m ×2 + 20.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004461335415018 + 20.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004461335415018[0m ×2 + 20.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004139589144783 + 20.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004139589144783[0m ×2 + 20.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004478394451757 + 20.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004478394451757[0m ×2 + 20.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004389194147887 + 20.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004389194147887[0m ×2 + 20.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005637614877335 + 20.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005637614877335[0m ×2 + 20.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004917708883719 + 20.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004917708883719[0m ×2 + 20.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004529254322586 + 20.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004529254322586[0m ×2 + 20.45sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 20.45sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m ×2 + 20.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224386 ms (missed cycles : 2). + 20.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224386 ms (missed cycles : 2).[0m ×2 + 20.59sWARNcontroller_managerOverrun might occur, Total time : 1669.521 us (Expected < 1666.667 us) --> Read time : 585.159 us, Update time : 178.248 us, Write time : 906.114 us + 20.59sWARNros2_control_nodeOverrun might occur, Total time : 1669.521 us (Expected < 1666.667 us) --> Read time : 585.159 us, Update time : 178.248 us, Write time : 906.114 us[0m ×2 + 20.95sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 20.96sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 21.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732410 ms (missed cycles : 2). + 21.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732410 ms (missed cycles : 2).[0m ×2 + 21.73sWARNcontroller_managerOverrun might occur, Total time : 2565.135 us (Expected < 1666.667 us) --> Read time : 317.686 us, Update time : 93.084 us, Write time : 2154.365 us + 21.73sWARNros2_control_nodeOverrun might occur, Total time : 2565.135 us (Expected < 1666.667 us) --> Read time : 317.686 us, Update time : 93.084 us, Write time : 2154.365 us[0m ×2 + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575567 ms (missed cycles : 4). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575567 ms (missed cycles : 4).[0m ×2 + 22.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000472969523098 + 22.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000472969523098[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014267522382560 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014267522382560[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.730351715358832 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.730351715358832[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.387843646106546 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.387843646106546[0m ×2 + 22.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.978268916258543 + 22.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.978268916258543[0m ×2 + 22.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.595968062100837 + 22.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.595968062100837[0m ×2 + 22.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.325763370191375 ×2 + 22.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.325763370191375[0m ×4 + 22.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.207444281376727 + 22.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.207444281376727[0m ×2 + 22.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.428914441237044 + 22.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.428914441237044[0m ×2 + 22.82sWARNcontroller_managerOverrun might occur, Total time : 3207.946 us (Expected < 1666.667 us) --> Read time : 260.402 us, Update time : 2434.839 us, Write time : 512.705 us + 22.82sWARNros2_control_nodeOverrun might occur, Total time : 3207.946 us (Expected < 1666.667 us) --> Read time : 260.402 us, Update time : 2434.839 us, Write time : 512.705 us[0m ×2 + 22.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.140178300549779 + 22.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.140178300549779[0m ×2 + 22.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.917792257924770 + 22.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.917792257924770[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.916931437332845 + 22.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.916931437332845[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.255011401559278 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.255011401559278[0m ×2 + 22.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.897935826217356 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.897935826217356[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.578445948712803 + 22.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.578445948712803[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.209108993596782 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.209108993596782[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.739929720472450 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.739929720472450[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.066309983440210 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.066309983440210[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.852635393243666 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.852635393243666[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.658061828387709 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.658061828387709[0m ×2 + 22.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.779950769407616 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.779950769407616[0m ×2 + 22.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.179214495919723 + 22.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.179214495919723[0m ×2 + 22.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.191931826439220 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.191931826439220[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.480201221949546 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.480201221949546[0m ×2 + 23.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.862091968355656 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.862091968355656[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.730569195758868 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.730569195758868[0m ×2 + 23.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.270392356584845 + 23.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.270392356584845[0m ×2 + 23.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.965288019250848 + 23.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.965288019250848[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.295515013604009 + 23.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.295515013604009[0m ×2 + 23.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.710702075304752 + 23.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.710702075304752[0m ×2 + 23.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.348547092485735 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.348547092485735[0m ×2 + 23.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.753645872843804 + 23.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.753645872843804[0m ×2 + 23.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.174274282533911 + 23.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.174274282533911[0m ×2 + 23.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.663236209372465 + 23.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.663236209372465[0m ×2 + 23.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.099544996644173 + 23.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.099544996644173[0m ×2 + 23.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.010890683396465 + 23.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.010890683396465[0m ×2 + 23.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.970523424667782 ×2 + 23.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.970523424667782[0m ×4 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.931280815111815 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.931280815111815[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.824852309533600 + 23.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.824852309533600[0m ×2 + 23.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.580053568400729 + 23.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.580053568400729[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.164801422773216 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.164801422773216[0m ×2 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.387352261559244 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.387352261559244[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.243108589389809 + 23.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.243108589389809[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.095623390514405 ×2 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.095623390514405[0m ×4 + 23.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.008810887665526 + 23.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.008810887665526[0m ×2 + 23.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.761242334125633 + 23.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.761242334125633[0m ×2 + 23.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.910925841435414 + 23.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.910925841435414[0m ×2 + 23.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.945557781635408 + 23.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.945557781635408[0m ×2 + 23.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.929521794920838 + 23.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.929521794920838[0m ×2 + 23.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.965462211464292 + 23.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.965462211464292[0m ×2 + 23.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.356757900621243 + 23.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.356757900621243[0m ×2 + 23.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.781790905332329 + 23.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.781790905332329[0m ×2 + 23.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.226164671238994 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.226164671238994[0m ×2 + 23.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.226164671237505 + 23.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.226164671237505[0m ×2 + 23.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.311056447428559 + 23.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.311056447428559[0m ×2 + 23.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.884734470828003 + 23.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.884734470828003[0m ×2 + 23.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.973705258274073 + 23.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.973705258274073[0m ×2 + 23.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.687862297714028 + 23.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.687862297714028[0m ×2 + 23.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.142950373587063 + 23.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.142950373587063[0m ×2 + 23.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.093860068915372 + 23.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.093860068915372[0m ×2 + 23.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.102782301395041 + 23.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.102782301395041[0m ×2 + 23.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.060030813114381 + 23.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.060030813114381[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.056453555838744 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.056453555838744[0m ×2 + 23.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.054097186369135 + 23.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.054097186369135[0m ×2 + 23.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450569 ms (missed cycles : 2). + 23.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450569 ms (missed cycles : 2).[0m ×2 + 23.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.180047936482734 + 23.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.180047936482734[0m ×2 + 23.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004428220472262 + 23.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004428220472262[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.023533427981777 + 23.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.023533427981777[0m ×2 + 23.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008191917400756 + 23.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008191917400756[0m ×2 + 23.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.028701338522515 + 23.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.028701338522515[0m ×2 + 23.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.027360697969387 + 23.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.027360697969387[0m ×2 + 23.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024667756286847 + 23.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024667756286847[0m ×2 + 23.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024998187056638 + 23.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024998187056638[0m ×2 + 23.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024377072048691 + 23.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024377072048691[0m ×2 + 23.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.023802415743352 + 23.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.023802415743352[0m ×2 + 23.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024412753911918 + 23.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024412753911918[0m ×2 + 23.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024971767544274 + 23.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024971767544274[0m ×2 + 23.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024469250799952 + 23.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024469250799952[0m ×2 + 23.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.023633106486816 + 23.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.023633106486816[0m ×2 + 23.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.022965062628724 + 23.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.022965062628724[0m ×2 + 23.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.021049938621891 + 23.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.021049938621891[0m ×2 + 23.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.019678468569373 + 23.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.019678468569373[0m ×2 + 23.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.018894756897044 + 23.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.018894756897044[0m ×2 + 23.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.016576926739827 + 23.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.016576926739827[0m ×2 + 23.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015057011066990 + 23.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015057011066990[0m ×2 + 23.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.014113559471665 + 23.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.014113559471665[0m ×2 + 23.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.012621635501233 + 23.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.012621635501233[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.010475200961783 + 23.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.010475200961783[0m ×2 + 23.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009799483571892 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009799483571892[0m ×2 + 23.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008711278479353 + 23.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008711278479353[0m ×2 + 23.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.007874124873726 + 23.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.007874124873726[0m ×2 + 23.84sWARNcontroller_managerOverrun might occur, Total time : 2141.524 us (Expected < 1666.667 us) --> Read time : 1615.469 us, Update time : 88.024 us, Write time : 438.031 us + 23.85sWARNros2_control_nodeOverrun might occur, Total time : 2141.524 us (Expected < 1666.667 us) --> Read time : 1615.469 us, Update time : 88.024 us, Write time : 438.031 us[0m ×2 + 23.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.007132890280410 + 23.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.007132890280410[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005620037915511 + 23.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005620037915511[0m ×2 + 23.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005027667632425 + 23.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005027667632425[0m ×2 + 23.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004713992396757 + 23.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004713992396757[0m ×2 + 23.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004203495440103 + 23.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004203495440103[0m ×2 + 23.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003512562107955 + 23.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003512562107955[0m ×2 + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003307351650047 + 23.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003307351650047[0m ×2 + 23.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002935911247449 + 23.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002935911247449[0m ×2 + 23.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002458286203580 + 23.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002458286203580[0m ×2 + 23.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002341800450333 + 23.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002341800450333[0m ×2 + 23.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002341800450431 + 23.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002341800450431[0m ×2 + 24.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001997483676683 + 24.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001997483676683[0m ×2 + 24.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001511124870279 + 24.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001511124870279[0m ×2 + 24.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001270254019114 + 24.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001270254019114[0m ×2 + 24.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001110333660969 + 24.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001110333660969[0m ×2 + 24.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001100429867706 + 24.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001100429867706[0m ×2 + 24.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000955256472058 + 24.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000955256472058[0m ×2 + 24.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000834188695244 + 24.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000834188695244[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000711247507393 + 24.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000711247507393[0m ×2 + 24.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000729745182463 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000729745182463[0m ×2 + 24.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000615190731297 + 24.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000615190731297[0m ×2 + 24.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000640291315856 + 24.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000640291315856[0m ×2 + 24.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000532750562416 + 24.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000532750562416[0m ×2 + 24.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000461777373498 + 24.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000461777373498[0m ×2 + 24.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000497178975771 + 24.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000497178975771[0m ×2 + 24.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000400497396873 + 24.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000400497396873[0m ×2 + 24.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000439915804549 + 24.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000439915804549[0m ×2 + 24.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000390285460946 + 24.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000390285460946[0m ×2 + 24.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000301386762931 + 24.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000301386762931[0m ×2 + 24.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000347162099289 + 24.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000347162099289[0m ×2 + 24.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000261314043264 + 24.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000261314043264[0m ×2 + 24.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000309604821199 + 24.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000309604821199[0m ×2 + 24.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000195831047396 + 24.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000195831047396[0m ×2 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000248155988355 + 24.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000248155988355[0m ×2 + 24.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000169095443390 + 24.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000169095443390[0m ×2 + 24.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000223038133673 + 24.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000223038133673[0m ×2 + 24.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000145647726624 + 24.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000145647726624[0m ×2 + 24.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000200994328006 + 24.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000200994328006[0m ×2 + 24.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000125051094595 + 24.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000125051094595[0m ×2 + 24.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000181619018316 + 24.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000181619018316[0m ×2 + 24.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000164565788128 + 24.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000164565788128[0m ×2 + 24.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000090974358695 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000090974358695[0m ×2 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000149537743886 + 24.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000149537743886[0m ×2 + 24.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000076901499908 + 24.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000076901499908[0m ×2 + 24.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136279619274 + 24.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136279619274[0m ×2 + 24.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064478495906 + 24.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064478495906[0m ×2 + 24.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043794250725 + 24.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043794250725[0m ×2 + 24.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035203193003 + 24.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035203193003[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096963479963 + 24.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096963479963[0m ×2 + 24.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027594943039 + 24.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027594943039[0m ×2 + 24.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089784971612 + 24.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089784971612[0m ×2 + 24.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214887 ms (missed cycles : 2). + 24.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214887 ms (missed cycles : 2).[0m ×2 + 24.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020853043021 + 24.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020853043021[0m ×2 + 24.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083422752421 + 24.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083422752421[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014875669471 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014875669471[0m ×2 + 24.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077781203688 + 24.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077781203688[0m ×2 + 24.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009573626556 + 24.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009573626556[0m ×2 + 24.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072776500040 + 24.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072776500040[0m ×2 + 24.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004868646710 + 24.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004868646710[0m ×2 + 24.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000068335035023 + 24.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000068335035023[0m ×2 + 24.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000691944905 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000691944905[0m ×2 + 24.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064392079007 + 24.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064392079007[0m ×2 + 24.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003017014799 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003017014799[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057780441364 + 24.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057780441364[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009238796464 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009238796464[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055017153363 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055017153363[0m ×2 + 24.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011840234477 + 24.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011840234477[0m ×2 + 24.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016208448778 + 24.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016208448778[0m ×2 + 24.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018036482021 + 24.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018036482021[0m ×2 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046714182034 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046714182034[0m ×2 + 24.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019662199537 + 24.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019662199537[0m ×2 + 24.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000045180572686 + 24.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000045180572686[0m ×2 + 24.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021108184457 + 24.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021108184457[0m ×2 + 24.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022394461285 + 24.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022394461285[0m ×2 + 24.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042604097962 + 24.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042604097962[0m ×2 + 24.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023538795590 + 24.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023538795590[0m ×2 + 24.85sWARNcontroller_managerOverrun might occur, Total time : 1960.345 us (Expected < 1666.667 us) --> Read time : 242.452 us, Update time : 101.264 us, Write time : 1616.629 us + 24.85sWARNros2_control_nodeOverrun might occur, Total time : 1960.345 us (Expected < 1666.667 us) --> Read time : 242.452 us, Update time : 101.264 us, Write time : 1616.629 us[0m ×2 + 24.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023538795775 + 24.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023538795775[0m ×2 + 24.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025462935199 + 24.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025462935199[0m ×2 + 24.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026269169375 + 24.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026269169375[0m ×2 + 24.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038954188674 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038954188674[0m ×2 + 24.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026986700120 + 24.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026986700120[0m ×2 + 24.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038279188738 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038279188738[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027625339106 + 24.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027625339106[0m ×2 + 24.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037678795410 + 24.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037678795410[0m ×2 + 24.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000028193806401 + 24.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000028193806401[0m ×2 + 24.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037144765710 + 24.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037144765710[0m ×2 + 24.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000028699853596 + 24.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000028699853596[0m ×2 + 25.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029150371621 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029150371621[0m ×2 + 25.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036247297930 + 25.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036247297930[0m ×2 + 25.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029551487202 + 25.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029551487202[0m ×2 + 25.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035871551493 + 25.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035871551493[0m ×2 + 25.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029908649973 + 25.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029908649973[0m ×2 + 25.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035537380409 + 25.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035537380409[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030226704967 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030226704967[0m ×2 + 25.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030509962805 + 25.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030509962805[0m ×2 + 25.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030762257553 + 25.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030762257553[0m ×2 + 25.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034740972029 + 25.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034740972029[0m ×2 + 25.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034532068818 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034532068818[0m ×2 + 25.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031187224278 + 25.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031187224278[0m ×2 + 25.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034346362112 + 25.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034346362112[0m ×2 + 25.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031365630340 + 25.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031365630340[0m ×2 + 25.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034181298570 + 25.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034181298570[0m ×2 + 25.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031524620036 + 25.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031524620036[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031666330630 + 25.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031666330630[0m ×2 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031792664344 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031792664344[0m ×2 + 25.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033788475279 + 25.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033788475279[0m ×2 + 25.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031905313250 + 25.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031905313250[0m ×2 + 25.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033685636312 + 25.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033685636312[0m ×2 + 25.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032005783197 + 25.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032005783197[0m ×2 + 25.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033594324069 + 25.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033594324069[0m ×2 + 25.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032095414526 + 25.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032095414526[0m ×2 + 25.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033513271023 + 25.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033513271023[0m ×2 + 25.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032175399901 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032175399901[0m ×2 + 25.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033441349111 + 25.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033441349111[0m ×2 + 25.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032310562042 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032310562042[0m ×2 + 25.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032367523554 + 25.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032367523554[0m ×2 + 25.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033270871185 + 25.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033270871185[0m ×2 + 25.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032418433992 + 25.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032418433992[0m ×2 + 25.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033226480027 + 25.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033226480027[0m ×2 + 25.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032463959170 + 25.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032463959170[0m ×2 + 25.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033187190381 + 25.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033187190381[0m ×2 + 25.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033152441496 + 25.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033152441496[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032541159282 + 25.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032541159282[0m ×2 + 25.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033121734542 + 25.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033121734542[0m ×2 + 25.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032573830974 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032573830974[0m ×2 + 25.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032603124490 + 25.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032603124490[0m ×2 + 25.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032629411970 + 25.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032629411970[0m ×2 + 25.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032653024363 + 25.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032653024363[0m ×2 + 25.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033031147711 + 25.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033031147711[0m ×2 + 25.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032674256181 + 25.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032674256181[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033014890128 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033014890128[0m ×2 + 25.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641664 ms (missed cycles : 3). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641664 ms (missed cycles : 3).[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032693369656 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032693369656[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032726148980 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032726148980[0m ×2 + 25.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032977328415 + 25.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032977328415[0m ×2 + 25.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032740207540 + 25.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032740207540[0m ×2 + 25.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032967887318 + 25.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032967887318[0m ×2 + 25.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032752938103 + 25.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032752938103[0m ×2 + 25.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032959709909 + 25.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032959709909[0m ×2 + 25.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032764487241 + 25.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032764487241[0m ×2 + 25.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032774984915 + 25.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032774984915[0m ×2 + 25.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032946608559 + 25.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032946608559[0m ×2 + 25.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032784547830 + 25.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032784547830[0m ×2 + 25.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032793278680 + 25.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032793278680[0m ×2 + 25.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032937088949 + 25.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032937088949[0m ×2 + 25.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032801269555 + 25.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032801269555[0m ×2 + 25.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032933434399 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032933434399[0m ×2 + 25.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032808602237 + 25.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032808602237[0m ×2 + 25.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032927948168 + 25.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032927948168[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032821576347 + 25.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032821576347[0m ×2 + 25.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032925986199 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032925986199[0m ×2 + 25.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032827340291 + 25.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032827340291[0m ×2 + 25.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032924470236 + 25.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032924470236[0m ×2 + 25.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032832692550 + 25.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032832692550[0m ×2 + 25.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032923351536 + 25.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032923351536[0m ×2 + 25.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032837679317 + 25.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032837679317[0m ×2 + 25.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032922586800 + 25.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032922586800[0m ×2 + 25.88sWARNcontroller_managerOverrun might occur, Total time : 3378.904 us (Expected < 1666.667 us) --> Read time : 275.383 us, Update time : 353.587 us, Write time : 2749.934 us + 25.89sWARNros2_control_nodeOverrun might occur, Total time : 3378.904 us (Expected < 1666.667 us) --> Read time : 275.383 us, Update time : 353.587 us, Write time : 2749.934 us[0m ×2 + 25.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032842340461 + 25.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032842340461[0m ×2 + 25.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032846712932 + 25.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032846712932[0m ×2 + 25.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032921970297 + 25.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032921970297[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032850828613 + 25.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032850828613[0m ×2 + 25.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032922053703 + 25.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032922053703[0m ×2 + 25.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032922360741 + 25.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032922360741[0m ×2 + 25.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032922867712 + 25.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032922867712[0m ×2 + 26.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032923552904 + 26.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032923552904[0m ×2 + 26.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032865252553 + 26.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032865252553[0m ×2 + 26.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032868456698 + 26.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032868456698[0m ×2 + 26.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032868456796 + 26.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032868456796[0m ×2 + 26.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032871535554 + 26.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032871535554[0m ×2 + 26.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032926496949 + 26.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032926496949[0m ×2 + 26.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032874502863 + 26.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032874502863[0m ×2 + 26.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032927723841 + 26.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032927723841[0m ×2 + 26.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032877371777 + 26.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032877371777[0m ×2 + 26.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032929052167 + 26.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032929052167[0m ×2 + 26.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032880153386 + 26.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032880153386[0m ×2 + 26.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032930471458 + 26.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032930471458[0m ×2 + 26.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032882857649 + 26.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032882857649[0m ×2 + 26.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032931971865 + 26.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032931971865[0m ×2 + 26.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032885493924 + 26.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032885493924[0m ×2 + 26.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032935184032 + 26.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032935184032[0m ×2 + 26.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032890592431 + 26.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032890592431[0m ×2 + 26.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032893068280 + 26.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032893068280[0m ×2 + 26.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032940428928 + 26.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032940428928[0m ×2 + 26.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032897901260 + 26.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032897901260[0m ×2 + 26.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032900267993 + 26.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032900267993[0m ×2 + 26.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032944147726 + 26.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032944147726[0m ×2 + 26.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032902606686 + 26.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032902606686[0m ×2 + 26.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032946061116 + 26.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032946061116[0m ×2 + 26.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032904921333 + 26.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032904921333[0m ×2 + 26.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032948006133 + 26.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032948006133[0m ×2 + 26.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032907214792 + 26.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032907214792[0m ×2 + 26.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032949979410 + 26.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032949979410[0m ×2 + 26.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032909489970 + 26.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032909489970[0m ×2 + 26.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032913994854 + 26.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032913994854[0m ×2 + 26.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032916228987 + 26.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032916228987[0m ×2 + 26.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032958108910 + 26.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032958108910[0m ×2 + 26.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032918453149 + 26.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032918453149[0m ×2 + 26.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032960190359 + 26.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032960190359[0m ×2 + 26.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032920669048 + 26.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032920669048[0m ×2 + 26.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032962288220 + 26.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032962288220[0m ×2 + 26.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032922878090 + 26.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032922878090[0m ×2 + 26.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032964401441 + 26.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032964401441[0m ×2 + 26.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032925081473 + 26.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032925081473[0m ×2 + 26.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032927280380 + 26.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032927280380[0m ×2 + 26.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032968668412 + 26.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032968668412[0m ×2 + 26.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032929475516 + 26.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032929475516[0m ×2 + 26.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032970820624 + 26.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032970820624[0m ×2 + 26.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032931668224 + 26.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032931668224[0m ×2 + 26.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.666679 ms (missed cycles : 6). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.666679 ms (missed cycles : 6).[0m ×2 + 26.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032972984074 + 26.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032972984074[0m ×2 + 26.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032933858903 + 26.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032933858903[0m ×2 + 26.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032936048457 + 26.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032936048457[0m ×2 + 26.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032977341566 + 26.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032977341566[0m ×2 + 26.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032979534575 + 26.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032979534575[0m ×2 + 26.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032940426351 + 26.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032940426351[0m ×2 + 26.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032981736355 + 26.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032981736355[0m ×2 + 26.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032983946532 + 26.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032983946532[0m ×2 + 26.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032944806195 + 26.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032944806195[0m ×2 + 26.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032986164614 + 26.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032986164614[0m ×2 + 26.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032946997894 + 26.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032946997894[0m ×2 + 26.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032988390155 + 26.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032988390155[0m ×2 + 26.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032990623153 + 26.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032990623153[0m ×2 + 26.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032992862994 + 26.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032992862994[0m ×2 + 26.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032953584367 + 26.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032953584367[0m ×2 + 26.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032995109592 + 26.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032995109592[0m ×2 + 26.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032955784677 + 26.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032955784677[0m ×2 + 26.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032997362617 + 26.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032997362617[0m ×2 + 26.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032957987561 + 26.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032957987561[0m ×2 + 26.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032999622240 + 26.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032999622240[0m ×2 + 26.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032960193439 + 26.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032960193439[0m ×2 + 26.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033004159541 + 26.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033004159541[0m ×2 + 26.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033006436989 + 26.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033006436989[0m ×2 + 26.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032966830729 + 26.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032966830729[0m ×2 + 26.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033008720421 + 26.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033008720421[0m ×2 + 26.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032969049978 + 26.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032969049978[0m ×2 + 26.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033011009359 + 26.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033011009359[0m ×2 + 26.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033013303950 + 26.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033013303950[0m ×2 + 26.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032973500060 + 26.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032973500060[0m ×2 + 26.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033015603901 + 26.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033015603901[0m ×2 + 26.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032975730710 + 26.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032975730710[0m ×2 + 26.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033017909230 + 26.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033017909230[0m ×2 + 26.96sWARNcontroller_managerOverrun might occur, Total time : 2218.307 us (Expected < 1666.667 us) --> Read time : 355.507 us, Update time : 782.548 us, Write time : 1080.252 us + 26.97sWARNros2_control_nodeOverrun might occur, Total time : 2218.307 us (Expected < 1666.667 us) --> Read time : 355.507 us, Update time : 782.548 us, Write time : 1080.252 us[0m ×2 + 26.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033020219997 + 27.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033020219997[0m ×2 + 27.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032982447093 + 27.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032982447093[0m ×2 + 27.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032984694231 + 27.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032984694231[0m ×2 + 27.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033027184063 + 27.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033027184063[0m ×2 + 27.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032986945620 + 27.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032986945620[0m ×2 + 27.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033031852531 + 27.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033031852531[0m ×2 + 27.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033034194531 + 27.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033034194531[0m ×2 + 27.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032993725589 + 27.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032993725589[0m ×2 + 27.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033036541714 + 27.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033036541714[0m ×2 + 27.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032995994441 + 27.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032995994441[0m ×2 + 27.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033038893912 + 27.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033038893912[0m ×2 + 27.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032998267521 + 27.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032998267521[0m ×2 + 27.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033000545454 + 27.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033000545454[0m ×2 + 27.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033043613611 + 27.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033043613611[0m ×2 + 27.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033045980942 + 27.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033045980942[0m ×2 + 27.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033005114727 + 27.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033005114727[0m ×2 + 27.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033048353369 + 27.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033048353369[0m ×2 + 27.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033007406131 + 27.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033007406131[0m ×2 + 27.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033050730874 + 27.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033050730874[0m ×2 + 27.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033009702292 + 27.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033009702292[0m ×2 + 27.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033055501043 + 27.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033055501043[0m ×2 + 27.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033057893615 + 27.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033057893615[0m ×2 + 27.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033016618507 + 27.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033016618507[0m ×2 + 27.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033060291251 + 27.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033060291251[0m ×2 + 27.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033018933196 + 27.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033018933196[0m ×2 + 27.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033062693858 + 27.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033062693858[0m ×2 + 27.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033021252628 + 27.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033021252628[0m ×2 + 27.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033023576850 + 27.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033023576850[0m ×2 + 27.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033067514484 + 27.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033067514484[0m ×2 + 27.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033025905888 + 27.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033025905888[0m ×2 + 27.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033028239681 + 27.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033028239681[0m ×2 + 27.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033072355274 + 27.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033072355274[0m ×2 + 27.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033032921626 + 27.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033032921626[0m ×2 + 27.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549977 ms (missed cycles : 3). + 27.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549977 ms (missed cycles : 3).[0m ×2 + 28.00sWARNcontroller_managerOverrun might occur, Total time : 7941.576 us (Expected < 1666.667 us) --> Read time : 327.116 us, Update time : 94.024 us, Write time : 7520.436 us + 28.00sWARNros2_control_nodeOverrun might occur, Total time : 7941.576 us (Expected < 1666.667 us) --> Read time : 327.116 us, Update time : 94.024 us, Write time : 7520.436 us[0m ×2 + 28.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427201 ms (missed cycles : 3). + 28.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427201 ms (missed cycles : 3).[0m ×2 + 29.22sWARNcontroller_managerOverrun might occur, Total time : 3301.970 us (Expected < 1666.667 us) --> Read time : 271.553 us, Update time : 2486.551 us, Write time : 543.866 us + 29.23sWARNros2_control_nodeOverrun might occur, Total time : 3301.970 us (Expected < 1666.667 us) --> Read time : 271.553 us, Update time : 2486.551 us, Write time : 543.866 us[0m ×2 + 29.27sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.46% of iterations over budget over 3:10.007 of wall time (853/58345). Consistently above 1% means the model timestep should be raised.[0m ×2 + 29.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762383 ms (missed cycles : 2). + 29.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762383 ms (missed cycles : 2).[0m ×2 + 29.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001578174773 + 29.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001578174773[0m ×2 + 29.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.497331372837397 + 29.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.497331372837397[0m ×2 + 29.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.434336792737037 + 29.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.434336792737037[0m ×2 + 29.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.384148621141435 + 29.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.384148621141435[0m ×2 + 29.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.326927174153481 ×2 + 29.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.326927174153481[0m ×4 + 29.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.266846909827465 + 29.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.266846909827465[0m ×2 + 29.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.330933560090759 + 29.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.330933560090759[0m ×2 + 29.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.244669199873536 + 29.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.244669199873536[0m ×2 + 29.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.580895061805597 + 29.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.580895061805597[0m ×2 + 29.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.233924122431773 + 29.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.233924122431773[0m ×2 + 29.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.987172539822661 + 29.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.987172539822661[0m ×2 + 29.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.550878484073586 ×2 + 29.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.550878484073586[0m ×4 + 29.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.399996267907746 + 29.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.399996267907746[0m ×2 + 29.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.851764672600968 + 29.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.851764672600968[0m ×2 + 29.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.522929488265934 + 29.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.522929488265934[0m ×2 + 29.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.046554891407334 + 29.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.046554891407334[0m ×2 + 29.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.451376120015942 + 29.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.451376120015942[0m ×2 + 29.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.138190821783015 + 29.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.138190821783015[0m ×2 + 29.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.020304251080898 + 29.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.020304251080898[0m ×2 + 29.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.847752240859537 + 29.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.847752240859537[0m ×2 + 29.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.616377733074359 ×2 + 29.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.616377733074359[0m ×4 + 29.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.197711454875165 + 29.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.197711454875165[0m ×2 + 29.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.600610090637566 + 29.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.600610090637566[0m ×2 + 29.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.939846096836686 + 29.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.939846096836686[0m ×2 + 30.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.214779047968424 ×2 + 30.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.214779047968424[0m ×4 + 30.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.498678054778658 + 30.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.498678054778658[0m ×2 + 30.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.017627618595675 + 30.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.017627618595675[0m ×2 + 30.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.211784902978071 + 30.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.211784902978071[0m ×2 + 30.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.028808177906569 + 30.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.028808177906569[0m ×2 + 30.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.192795541672638 + 30.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.192795541672638[0m ×2 + 30.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.599723067682294 + 30.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.599723067682294[0m ×2 + 30.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.209002374241582 + 30.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.209002374241582[0m ×2 + 30.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.661349732787240 ×2 + 30.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.661349732787240[0m ×4 + 30.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.119955646827425 + 30.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.119955646827425[0m ×2 + 30.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.576574142364311 ×2 + 30.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.576574142364311[0m ×4 + 30.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.519286984098551 + 30.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.519286984098551[0m ×2 + 30.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.743129683520815 + 30.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.743129683520815[0m ×2 + 30.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.284950178516286 + 30.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.284950178516286[0m ×2 + 30.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.555049391966557 + 30.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.555049391966557[0m ×2 + 30.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.021558487972777 + 30.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.021558487972777[0m ×2 + 30.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.476403017446194 + 30.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.476403017446194[0m ×2 + 30.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.899809189794148 ×2 + 30.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.899809189794148[0m ×4 + 30.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.364319229657653 + 30.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.364319229657653[0m ×2 + 30.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.781762445195309 + 30.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.781762445195309[0m ×2 + 30.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.219421384088086 + 30.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.219421384088086[0m ×2 + 30.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.219421384088088 + 30.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.219421384088088[0m ×2 + 30.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.660870290709811 + 30.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.660870290709811[0m ×2 + 30.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.505911480493966 + 30.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.505911480493966[0m ×2 + 30.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.941107112961266 + 30.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.941107112961266[0m ×2 + 30.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.365633452114594 ×2 + 30.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.365633452114594[0m ×4 + 30.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.802991596557430 + 30.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.802991596557430[0m ×2 + 30.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.225733538847464 + 30.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.225733538847464[0m ×2 + 30.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.758881661063668 + 30.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.758881661063668[0m ×2 + 30.30sWARNcontroller_managerOverrun might occur, Total time : 2443.858 us (Expected < 1666.667 us) --> Read time : 339.816 us, Update time : 83.904 us, Write time : 2020.138 us + 30.30sWARNros2_control_nodeOverrun might occur, Total time : 2443.858 us (Expected < 1666.667 us) --> Read time : 339.816 us, Update time : 83.904 us, Write time : 2020.138 us[0m ×2 + 30.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.690062205745235 + 30.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.690062205745235[0m ×2 + 30.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.482627324715867 + 30.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.482627324715867[0m ×2 + 30.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.236353015108364 + 30.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.236353015108364[0m ×2 + 30.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.666464272194720 + 30.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.666464272194720[0m ×2 + 30.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.096096775900079 + 30.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.096096775900079[0m ×2 + 30.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.096096775900072 + 30.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.096096775900072[0m ×2 + 30.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.527344014423640 + 30.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.527344014423640[0m ×2 + 30.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.955446333282737 + 30.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.955446333282737[0m ×2 + 30.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.515853374905241 + 30.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.515853374905241[0m ×2 + 30.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.091037011324417 + 30.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.091037011324417[0m ×2 + 30.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.091037011324410 + 30.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.091037011324410[0m ×2 + 30.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.660803088432502 + 30.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.660803088432502[0m ×2 + 30.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.234452024058839 + 30.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.234452024058839[0m ×2 + 30.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.804092008020458 + 30.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.804092008020458[0m ×2 + 30.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.439603320187228 + 30.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.439603320187228[0m ×2 + 30.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.040776013919642 ×2 + 30.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.040776013919642[0m ×4 + 30.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.557594342716333 + 30.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.557594342716333[0m ×2 + 30.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.634520042433120 + 30.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.634520042433120[0m ×2 + 30.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.133141674489286 + 30.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.133141674489286[0m ×2 + 30.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.141392155943544 + 30.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.141392155943544[0m ×2 + 30.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.240100546256993 + 30.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.240100546256993[0m ×2 + 30.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.671549871917922 + 30.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.671549871917922[0m ×2 + 30.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.671549871917920 + 30.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.671549871917920[0m ×2 + 30.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.101327585119204 + 30.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.101327585119204[0m ×2 + 30.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.389633116863919 + 30.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.389633116863919[0m ×2 + 30.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.817308231634296 + 30.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.817308231634296[0m ×2 + 30.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.676964909131023 + 30.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.676964909131023[0m ×2 + 30.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.107062100319702 + 30.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.107062100319702[0m ×2 + 30.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.537168933163663 + 30.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.537168933163663[0m ×2 + 30.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.965402681280764 + 30.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.965402681280764[0m ×2 + 30.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.965402681280768 + 30.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.965402681280768[0m ×2 + 30.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.389801934371526 + 30.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.389801934371526[0m ×2 + 30.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.829412212634711 + 30.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.829412212634711[0m ×2 + 30.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.255321056868603 ×2 + 30.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.255321056868603[0m ×4 + 30.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.687474797185040 + 30.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.687474797185040[0m ×2 + 30.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.115455728976492 + 30.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.115455728976492[0m ×2 + 30.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629624 ms (missed cycles : 2). + 30.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629624 ms (missed cycles : 2).[0m ×2 + 30.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.537521207144238 + 30.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.537521207144238[0m ×2 + 30.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.407070621258121 + 30.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.407070621258121[0m ×2 + 30.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.150031244079095 + 30.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.150031244079095[0m ×2 + 30.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.102575537058566 + 30.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.102575537058566[0m ×2 + 30.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.668310552663366 + 30.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.668310552663366[0m ×2 + 30.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.245499661477661 + 30.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.245499661477661[0m ×2 + 30.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.814564732997040 + 30.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.814564732997040[0m ×2 + 30.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.386495414490604 + 30.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.386495414490604[0m ×2 + 30.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.386495414490605 + 30.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.386495414490605[0m ×2 + 30.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.959653743144523 + 30.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.959653743144523[0m ×2 + 30.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.524032182029224 + 30.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.524032182029224[0m ×2 + 30.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.099598217811195 + 30.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.099598217811195[0m ×2 + 30.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.663388976068668 + 30.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.663388976068668[0m ×2 + 30.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.195314204910288 + 30.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.195314204910288[0m ×2 + 30.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.627368674845607 + 30.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.627368674845607[0m ×2 + 30.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.054688177565780 + 30.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.054688177565780[0m ×2 + 30.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.054688177565782 + 30.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.054688177565782[0m ×2 + 30.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.485360309589836 + 30.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.485360309589836[0m ×2 + 30.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.914437963257674 + 30.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.914437963257674[0m ×2 + 30.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.346227579671784 ×2 + 30.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.346227579671784[0m ×4 + 30.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.775803734309964 + 30.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.775803734309964[0m ×2 + 30.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.698698473407724 + 30.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.698698473407724[0m ×2 + 30.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.421188295599700 + 30.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.421188295599700[0m ×2 + 30.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.071474824829821 + 30.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.071474824829821[0m ×2 + 30.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.583842705916904 + 30.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.583842705916904[0m ×2 + 30.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.874111437514717 + 30.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.874111437514717[0m ×2 + 30.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.104902336270175 + 30.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.104902336270175[0m ×2 + 30.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.440521414706822 + 30.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.440521414706822[0m ×2 + 31.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.783690996592306 + 31.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.783690996592306[0m ×2 + 31.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.865900479295867 + 31.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.865900479295867[0m ×2 + 31.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.265604236326077 + 31.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.265604236326077[0m ×2 + 31.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.886192254141932 + 31.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.886192254141932[0m ×2 + 31.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.454286529187094 + 31.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.454286529187094[0m ×2 + 31.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.422736833285271 + 31.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.422736833285271[0m ×2 + 31.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.795672787559454 + 31.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.795672787559454[0m ×2 + 31.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.245089755955735 + 31.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.245089755955735[0m ×2 + 31.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.039267140149072 + 31.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.039267140149072[0m ×2 + 31.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.174162933555486 + 31.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.174162933555486[0m ×2 + 31.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.914497833329897 + 31.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.914497833329897[0m ×2 + 31.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.101736164356140 + 31.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.101736164356140[0m ×2 + 31.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.643167441602227 ×2 + 31.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.643167441602227[0m ×4 + 31.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.049359504875021 + 31.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.049359504875021[0m ×2 + 31.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.155201272898700 + 31.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.155201272898700[0m ×2 + 31.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.997102728527039 + 31.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.997102728527039[0m ×2 + 31.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.238625990837537 + 31.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.238625990837537[0m ×2 + 31.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.844181658578140 + 31.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.844181658578140[0m ×2 + 31.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.395837041738458 + 31.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.395837041738458[0m ×2 + 31.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.356874416813717 + 31.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.356874416813717[0m ×2 + 31.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.996073290149976 + 31.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.996073290149976[0m ×2 + 31.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.004176447572249 + 31.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.004176447572249[0m ×2 + 31.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.939161600690319 + 31.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.939161600690319[0m ×2 + 31.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.939161600690294 + 31.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.939161600690294[0m ×2 + 31.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.290247123596131 + 31.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.290247123596131[0m ×2 + 31.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.467796617986654 + 31.33sWARNcontroller_managerOverrun might occur, Total time : 3353.833 us (Expected < 1666.667 us) --> Read time : 181.909 us, Update time : 2721.112 us, Write time : 450.812 us + 31.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.467796617986654[0m ×2 + 31.34sWARNros2_control_nodeOverrun might occur, Total time : 3353.833 us (Expected < 1666.667 us) --> Read time : 181.909 us, Update time : 2721.112 us, Write time : 450.812 us[0m ×2 + 31.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.754419941422476 + 31.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.754419941422476[0m ×2 + 31.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.073182871214897 + 31.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.073182871214897[0m ×2 + 31.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.541621760458213 + 31.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.541621760458213[0m ×2 + 31.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.991032841376729 + 31.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.991032841376729[0m ×2 + 31.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 38.438389887853134 + 31.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 38.438389887853134[0m ×2 + 31.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.154076891972402 + 31.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.154076891972402[0m ×2 + 31.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.878099261972224 + 31.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.878099261972224[0m ×2 + 31.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.234641188341037 + 31.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.234641188341037[0m ×2 + 31.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.784785321682154 + 31.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.784785321682154[0m ×2 + 31.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.310717985376296 + 31.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.310717985376296[0m ×2 + 31.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.363596338422740 + 31.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.363596338422740[0m ×2 + 31.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.503079256204916 + 31.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.503079256204916[0m ×2 + 31.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.697433242978397 + 31.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.697433242978397[0m ×2 + 31.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.922351742842466 + 31.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.922351742842466[0m ×2 + 31.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.243126792069694 + 31.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.243126792069694[0m ×2 + 31.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.243126792069956 + 31.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.243126792069956[0m ×2 + 31.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.848673603895099 + 31.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.848673603895099[0m ×2 + 31.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.207226507098078 + 31.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.207226507098078[0m ×2 + 31.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.604744967332293 + 31.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.604744967332293[0m ×2 + 31.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.022713374117377 + 31.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.022713374117377[0m ×2 + 31.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.440839671423115 + 31.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.440839671423115[0m ×2 + 31.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.499748048728105 + 31.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.499748048728105[0m ×2 + 31.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.824560545959386 + 31.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.824560545959386[0m ×2 + 31.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.356955250080915 + 31.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.356955250080915[0m ×2 + 31.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.756841242032174 + 31.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.756841242032174[0m ×2 + 31.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.137560988443163 + 31.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.137560988443163[0m ×2 + 31.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.725805758441599 + 31.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.725805758441599[0m ×2 + 31.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.062860071039083 + 31.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.062860071039083[0m ×2 + 31.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.479054931362796 + 31.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.479054931362796[0m ×2 + 31.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.717012 ms (missed cycles : 6). + 31.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.999171192825969 + 31.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.717012 ms (missed cycles : 6).[0m ×2 + 31.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.999171192825969[0m ×2 + 31.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.483926733611028 + 31.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.483926733611028[0m ×2 + 31.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.459878089506986 + 31.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.459878089506986[0m ×2 + 31.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.931988633828176 + 31.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.931988633828176[0m ×2 + 31.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.339598001488802 + 31.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.339598001488802[0m ×2 + 31.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.982730157250110 + 31.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.982730157250110[0m ×2 + 31.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.467913409294777 + 31.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.467913409294777[0m ×2 + 31.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.079373610618821 + 31.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.079373610618821[0m ×2 + 31.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.121659193488583 + 31.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.121659193488583[0m ×2 + 31.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.131293618389304 + 31.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.131293618389304[0m ×2 + 31.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.884588547583244 + 31.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.884588547583244[0m ×2 + 31.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.173247703236564 + 31.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.173247703236564[0m ×2 + 31.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.586923730830032 + 31.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.586923730830032[0m ×2 + 31.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.023127874773815 + 31.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.023127874773815[0m ×2 + 31.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.479685727601638 + 31.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.479685727601638[0m ×2 + 31.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.020285293316824 ×2 + 31.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.020285293316824[0m ×4 + 31.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.271502626213740 + 31.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.271502626213740[0m ×2 + 31.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.777822487199586 + 31.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.777822487199586[0m ×2 + 31.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.154273079169734 + 31.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.154273079169734[0m ×2 + 31.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.585975651880858 + 31.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.585975651880858[0m ×2 + 31.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.036856573817101 + 31.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.036856573817101[0m ×2 + 31.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.899642477470397 + 31.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.899642477470397[0m ×2 + 31.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.148606202617035 + 31.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.148606202617035[0m ×2 + 32.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.571207652209178 + 32.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.571207652209178[0m ×2 + 32.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.130541441442507 + 32.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.130541441442507[0m ×2 + 32.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.503285421392171 + 32.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.503285421392171[0m ×2 + 32.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.582785145349682 + 32.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.582785145349682[0m ×2 + 32.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.743413746199874 + 32.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.743413746199874[0m ×2 + 32.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.953189393902431 + 32.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.953189393902431[0m ×2 + 32.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.754893025975200 + 32.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.754893025975200[0m ×2 + 32.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.614268780963308 + 32.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.614268780963308[0m ×2 + 32.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.216277014791612 + 32.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.216277014791612[0m ×2 + 32.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.762010865996265 + 32.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.762010865996265[0m ×2 + 32.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.291822003653929 + 32.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.291822003653929[0m ×2 + 32.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.932766336321603 + 32.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.932766336321603[0m ×2 + 32.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.605638442249724 + 32.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.605638442249724[0m ×2 + 32.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.435429183381725 + 32.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.435429183381725[0m ×2 + 32.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.055965320660379 + 32.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.055965320660379[0m ×2 + 32.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028494919577304 + 32.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028494919577304[0m ×2 + 32.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016379786687890 + 32.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016379786687890[0m ×2 + 32.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027577732482279 + 32.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027577732482279[0m ×2 + 32.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044060877710446 + 32.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044060877710446[0m ×2 + 32.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.788885703621469 + 32.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.788885703621469[0m ×2 + 32.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.118201980087171 + 32.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.118201980087171[0m ×2 + 32.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.576097432747220 + 32.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.576097432747220[0m ×2 + 32.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.864879822296178 + 32.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.864879822296178[0m ×2 + 32.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.528455327450231 + 32.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.528455327450231[0m ×2 + 32.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.153371555606963 + 32.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.153371555606963[0m ×2 + 32.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.538485947795003 + 32.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.538485947795003[0m ×2 + 32.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.888273289582319 + 32.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.888273289582319[0m ×2 + 32.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.393376027080517 + 32.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.393376027080517[0m ×2 + 32.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.797569740696630 + 32.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.797569740696630[0m ×2 + 32.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.053180708114578 + 32.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.053180708114578[0m ×2 + 32.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.276002982102607 + 32.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.276002982102607[0m ×2 + 32.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.354310338816937 + 32.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.354310338816937[0m ×2 + 32.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.100841736457031 + 32.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.100841736457031[0m ×2 + 32.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.354057689663978 + 32.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.354057689663978[0m ×2 + 32.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.432647601267938 + 32.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.432647601267938[0m ×2 + 32.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.826795954304416 + 32.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.826795954304416[0m ×2 + 32.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.221022928475456 + 32.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.221022928475456[0m ×2 + 32.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.666200048898776 + 32.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.666200048898776[0m ×2 + 32.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.206261859264487 + 32.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.206261859264487[0m ×2 + 32.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.603193514888840 + 32.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.603193514888840[0m ×2 + 32.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.210980035083704 + 32.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.210980035083704[0m ×2 + 32.52sWARNcontroller_managerOverrun might occur, Total time : 1838.559 us (Expected < 1666.667 us) --> Read time : 277.383 us, Update time : 82.874 us, Write time : 1478.302 us + 32.53sWARNros2_control_nodeOverrun might occur, Total time : 1838.559 us (Expected < 1666.667 us) --> Read time : 277.383 us, Update time : 82.874 us, Write time : 1478.302 us[0m ×2 + 32.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.743983313305616 + 32.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.743983313305616[0m ×2 + 32.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.872344046669774 + 32.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.872344046669774[0m ×2 + 32.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.875322221865289 + 32.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.875322221865289[0m ×2 + 32.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.586204088085839 + 32.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.586204088085839[0m ×2 + 32.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.214119792421833 + 32.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.214119792421833[0m ×2 + 32.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.723501709954822 + 32.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.723501709954822[0m ×2 + 32.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.343580327983303 + 32.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.343580327983303[0m ×2 + 32.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.767735536296703 + 32.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.767735536296703[0m ×2 + 32.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.450099382975369 + 32.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.450099382975369[0m ×2 + 32.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.980719347472496 + 32.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.980719347472496[0m ×2 + 32.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.603311071354822 + 32.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.603311071354822[0m ×2 + 32.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.277875580532233 + 32.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.277875580532233[0m ×2 + 32.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.237991273827342 + 32.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.237991273827342[0m ×2 + 32.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.550462674025915 + 32.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.550462674025915[0m ×2 + 32.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.986703133637801 + 32.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.986703133637801[0m ×2 + 32.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.434536007979361 + 32.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.434536007979361[0m ×2 + 32.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.799546525303983 + 32.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.799546525303983[0m ×2 + 32.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298741 ms (missed cycles : 3). + 32.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298741 ms (missed cycles : 3).[0m ×2 + 32.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.310810547844694 + 32.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.310810547844694[0m ×2 + 32.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.680921933137979 + 32.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.680921933137979[0m ×2 + 32.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.269136909889284 + 32.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.269136909889284[0m ×2 + 32.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.546495374538768 + 32.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.546495374538768[0m ×2 + 32.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.055576121978508 + 32.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.055576121978508[0m ×2 + 32.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.425635864574431 + 32.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.425635864574431[0m ×2 + 32.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.644916688341418 + 32.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.644916688341418[0m ×2 + 32.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.564638785463170 + 32.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.564638785463170[0m ×2 + 32.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.449538028934569 + 32.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.449538028934569[0m ×2 + 32.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.880370079356506 + 32.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.880370079356506[0m ×2 + 32.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.434434252138637 + 32.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.434434252138637[0m ×2 + 32.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.747584762468371 + 32.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.747584762468371[0m ×2 + 32.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.283324369939237 + 32.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.283324369939237[0m ×2 + 32.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.845644379165439 + 32.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.845644379165439[0m ×2 + 32.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.042193558608247 + 32.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.042193558608247[0m ×2 + 32.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.960096285269884 + 32.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.960096285269884[0m ×2 + 32.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.664650273816313 + 32.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.664650273816313[0m ×2 + 32.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.056694039432905 + 32.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.056694039432905[0m ×2 + 32.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.402677640062048 + 32.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.402677640062048[0m ×2 + 32.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.742843672799585 + 32.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.742843672799585[0m ×2 + 33.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.203127560926849 + 33.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.203127560926849[0m ×2 + 33.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.245430182068580 + 33.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.245430182068580[0m ×2 + 33.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.047239055653632 + 33.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.047239055653632[0m ×2 + 33.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.551345229227429 ×2 + 33.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.551345229227429[0m ×4 + 33.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.000213148146504 + 33.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.000213148146504[0m ×2 + 33.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.362191655991584 + 33.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.362191655991584[0m ×2 + 33.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.916472875613323 + 33.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.916472875613323[0m ×2 + 33.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.066766461984606 + 33.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.066766461984606[0m ×2 + 33.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.066766461984592 + 33.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.066766461984592[0m ×2 + 33.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.511854628828697 + 33.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.511854628828697[0m ×2 + 33.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.988634030814598 + 33.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.988634030814598[0m ×2 + 33.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.411977981438255 + 33.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.411977981438255[0m ×2 + 33.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.779340552419441 + 33.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.779340552419441[0m ×2 + 33.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.221725514064318 + 33.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.221725514064318[0m ×2 + 33.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.623063189328459 + 33.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.623063189328459[0m ×2 + 33.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.465077776582007 + 33.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.465077776582007[0m ×2 + 33.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.929388037072044 + 33.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.929388037072044[0m ×2 + 33.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.443675153808165 + 33.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.443675153808165[0m ×2 + 33.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.908705554296713 + 33.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.908705554296713[0m ×2 + 33.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.627333717523818 + 33.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.627333717523818[0m ×2 + 33.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.214130444251332 + 33.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.214130444251332[0m ×2 + 33.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.945918696754941 + 33.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.945918696754941[0m ×2 + 33.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.144212669254255 + 33.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.144212669254255[0m ×2 + 33.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.945816681646551 + 33.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.945816681646551[0m ×2 + 33.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.273738248397343 + 33.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.273738248397343[0m ×2 + 33.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.667954946001565 + 33.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.667954946001565[0m ×2 + 33.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.252066706614194 + 33.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.252066706614194[0m ×2 + 33.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.456213744499252 + 33.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.456213744499252[0m ×2 + 33.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.968771643892735 + 33.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.968771643892735[0m ×2 + 33.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.461301042902917 + 33.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.461301042902917[0m ×2 + 33.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.875522539135318 + 33.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.875522539135318[0m ×2 + 33.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.293815311741202 + 33.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.293815311741202[0m ×2 + 33.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.713304774683589 + 33.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.713304774683589[0m ×2 + 33.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.304251968956780 + 33.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.304251968956780[0m ×2 + 33.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.600827195345143 + 33.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.600827195345143[0m ×2 + 33.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.600827195345076 + 33.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.600827195345076[0m ×2 + 33.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.086951612402562 + 33.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.086951612402562[0m ×2 + 33.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.499286998143123 + 33.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.499286998143123[0m ×2 + 33.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.300188840557535 + 33.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.300188840557535[0m ×2 + 33.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.688459797915645 + 33.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.688459797915645[0m ×2 + 33.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.039211086766116 + 33.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.039211086766116[0m ×2 + 33.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.603776634761438 + 33.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.603776634761438[0m ×2 + 33.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.778926814304198 + 33.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.778926814304198[0m ×2 + 33.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.267224385280327 + 33.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.267224385280327[0m ×2 + 33.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.898890886774573 + 33.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.898890886774573[0m ×2 + 33.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.482463915582499 + 33.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.482463915582499[0m ×2 + 33.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.008198678280089 + 33.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.008198678280089[0m ×2 + 33.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.584086795252185 + 33.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.584086795252185[0m ×2 + 33.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.802154231744294 + 33.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.802154231744294[0m ×2 + 33.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.300573319978437 + 33.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.300573319978437[0m ×2 + 33.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.746447763283083 ×2 + 33.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.746447763283083[0m ×4 + 33.63sWARNcontroller_managerOverrun might occur, Total time : 1756.705 us (Expected < 1666.667 us) --> Read time : 242.862 us, Update time : 495.404 us, Write time : 1018.439 us + 33.63sWARNros2_control_nodeOverrun might occur, Total time : 1756.705 us (Expected < 1666.667 us) --> Read time : 242.862 us, Update time : 495.404 us, Write time : 1018.439 us[0m ×2 + 33.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.040184652384609 + 33.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.040184652384609[0m ×2 + 33.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.823619404785472 + 33.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.823619404785472[0m ×2 + 33.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.208383254609489 + 33.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.208383254609489[0m ×2 + 33.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.732464094282294 + 33.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.732464094282294[0m ×2 + 33.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.165363413997726 + 33.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.165363413997726[0m ×2 + 33.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.538702823540504 + 33.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.538702823540504[0m ×2 + 33.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.005619167278805 + 33.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.005619167278805[0m ×2 + 33.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.022232363833295 + 33.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.022232363833295[0m ×2 + 33.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.506174905902913 + 33.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.506174905902913[0m ×2 + 33.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.809547358829402 + 33.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.809547358829402[0m ×2 + 33.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229714 ms (missed cycles : 2). + 33.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229714 ms (missed cycles : 2).[0m ×2 + 33.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.809547358829416 + 33.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.809547358829416[0m ×2 + 33.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.062828108993624 + 33.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.062828108993624[0m ×2 + 33.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.562436613504026 + 33.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.562436613504026[0m ×2 + 33.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.562436613504065 + 33.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.562436613504065[0m ×2 + 33.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.001207462333479 + 33.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.001207462333479[0m ×2 + 33.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.377712273445411 + 33.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.377712273445411[0m ×2 + 33.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.882639841654278 + 33.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.882639841654278[0m ×2 + 33.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.679508102066261 + 33.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.679508102066261[0m ×2 + 33.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.181609752476913 + 33.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.181609752476913[0m ×2 + 33.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.565953453216112 + 33.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.565953453216112[0m ×2 + 33.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.145074119538804 + 33.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.145074119538804[0m ×2 + 33.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.433346850413337 + 33.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.433346850413337[0m ×2 + 33.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.873211140719437 + 33.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.873211140719437[0m ×2 + 33.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.717184619436940 + 33.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.717184619436940[0m ×2 + 33.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.266957599222433 + 33.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.266957599222433[0m ×2 + 33.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.560392794535442 + 33.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.560392794535442[0m ×2 + 33.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.975619179366491 + 33.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.975619179366491[0m ×2 + 33.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.435230559289614 + 33.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.435230559289614[0m ×2 + 33.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.878095421085209 + 33.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.878095421085209[0m ×2 + 33.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.878095421085220 + 33.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.878095421085220[0m ×2 + 33.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.740939766890349 + 33.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.740939766890349[0m ×2 + 34.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.285370123107626 + 34.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.285370123107626[0m ×2 + 34.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.017767847256319 + 34.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.017767847256319[0m ×2 + 34.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.456112878620182 + 34.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.456112878620182[0m ×2 + 34.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.014348244817793 + 34.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.014348244817793[0m ×2 + 34.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.561209959988279 + 34.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.561209959988279[0m ×2 + 34.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.202702278332815 ×2 + 34.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.202702278332815[0m ×4 + 34.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.688565527634470 + 34.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.688565527634470[0m ×2 + 34.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.277121351289658 + 34.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.277121351289658[0m ×2 + 34.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.017266176932612 + 34.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.017266176932612[0m ×2 + 34.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.767427309612232 + 34.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.767427309612232[0m ×2 + 34.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.569035840389988 + 34.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.569035840389988[0m ×2 + 34.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.058744810138219 + 34.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.058744810138219[0m ×2 + 34.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.372355558806850 + 34.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.372355558806850[0m ×2 + 34.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.863803355917058 + 34.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.863803355917058[0m ×2 + 34.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.307608942726135 + 34.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.307608942726135[0m ×2 + 34.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.653206680139460 + 34.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.653206680139460[0m ×2 + 34.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.178170549394650 + 34.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.178170549394650[0m ×2 + 34.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.980743525557227 + 34.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.980743525557227[0m ×2 + 34.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.126384477987969 + 34.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.126384477987969[0m ×2 + 34.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.942037785339359 + 34.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.942037785339359[0m ×2 + 34.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.231100440471756 + 34.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.231100440471756[0m ×2 + 34.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.231100440471700 + 34.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.231100440471700[0m ×2 + 34.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.687818290730604 + 34.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.687818290730604[0m ×2 + 34.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.512256687374745 + 34.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.512256687374745[0m ×2 + 34.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.363090278165689 + 34.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.363090278165689[0m ×2 + 34.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.776148118216877 + 34.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.776148118216877[0m ×2 + 34.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.204188277579476 + 34.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.204188277579476[0m ×2 + 34.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.634494470365084 + 34.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.634494470365084[0m ×2 + 34.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.331923259010637 + 34.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.331923259010637[0m ×2 + 34.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.778825731005050 + 34.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.778825731005050[0m ×2 + 34.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.519075834106822 + 34.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.519075834106822[0m ×2 + 34.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.808343096897097 + 34.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.808343096897097[0m ×2 + 34.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.768697720144945 + 34.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.768697720144945[0m ×2 + 34.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.953529885856611 + 34.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.953529885856611[0m ×2 + 34.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.284734004780118 + 34.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.284734004780118[0m ×2 + 34.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.642490429321137 + 34.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.642490429321137[0m ×2 + 34.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.081976206067418 + 34.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.081976206067418[0m ×2 + 34.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.534724800511253 + 34.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.534724800511253[0m ×2 + 34.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.980964349394663 + 34.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.980964349394663[0m ×2 + 34.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.420910755734056 + 34.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.420910755734056[0m ×2 + 34.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.975848508557435 ×2 + 34.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.975848508557435[0m ×4 + 34.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.280820602929420 + 34.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.280820602929420[0m ×2 + 34.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.711793668963400 + 34.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.711793668963400[0m ×2 + 34.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.139033599699818 + 34.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.139033599699818[0m ×2 + 34.54sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780495392.35310864 seconds ×3 + 34.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.595236788440520 + 34.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.595236788440520[0m ×2 + 34.67sWARNcontroller_managerOverrun might occur, Total time : 5543.649 us (Expected < 1666.667 us) --> Read time : 193.669 us, Update time : 4780.962 us, Write time : 569.018 us + 34.68sWARNros2_control_nodeOverrun might occur, Total time : 5543.649 us (Expected < 1666.667 us) --> Read time : 193.669 us, Update time : 4780.962 us, Write time : 569.018 us[0m ×2 + 34.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288403 ms (missed cycles : 4). + 34.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288403 ms (missed cycles : 4).[0m ×2 + 35.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780495393.02973104 seconds. ×3 + 35.27sINFOobjective_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 + 35.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 35.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 35.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 35.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 35.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 35.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 35.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 35.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 35.36sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 35.36sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 35.37sINFOros2_control_node[2026-06-03 14:03:13.183] [info] Received new action goal ×2 + 35.37sINFOros2_control_node[2026-06-03 14:03:13.183] [info] Accepted new action goal ×2 + 35.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.918700 ms (missed cycles : 6). + 35.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.918700 ms (missed cycles : 6).[0m ×2 + 36.14sWARNcontroller_managerOverrun might occur, Total time : 2263.449 us (Expected < 1666.667 us) --> Read time : 370.628 us, Update time : 532.586 us, Write time : 1360.235 us + 36.14sWARNros2_control_nodeOverrun might occur, Total time : 2263.449 us (Expected < 1666.667 us) --> Read time : 370.628 us, Update time : 532.586 us, Write time : 1360.235 us[0m ×2 + 36.62sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780495394.43885612 seconds ×3 + 36.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126467 ms (missed cycles : 2). + 36.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126467 ms (missed cycles : 2).[0m ×2 + 37.22sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780495395.03163338 seconds. ×3 + 37.38sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 37.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 37.38sWARNcontroller_managerOverrun might occur, Total time : 1799.467 us (Expected < 1666.667 us) --> Read time : 542.106 us, Update time : 147.487 us, Write time : 1109.874 us + 37.39sWARNros2_control_nodeOverrun might occur, Total time : 1799.467 us (Expected < 1666.667 us) --> Read time : 542.106 us, Update time : 147.487 us, Write time : 1109.874 us[0m ×2 + 37.40sINFOros2_control_node[2026-06-03 14:03:15.213] [info] Received new action goal ×2 + 37.40sINFOros2_control_node[2026-06-03 14:03:15.215] [info] Accepted new action goal ×2 + 37.68sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view" + 37.69sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 37.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999008 ms (missed cycles : 3). + 37.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999008 ms (missed cycles : 3).[0m ×2
✓ passed	MPC Pose Tracking With Static Sphere Point Cloud Avoidance	mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml	30.0s	3591 errors · 207 warnings · 8368 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1963 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.461301042902917 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×3926 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.461301042902917[0m ×2 + 0.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.875522539135318 + 0.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.875522539135318[0m ×2 + 0.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.293815311741202 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.293815311741202[0m ×2 + 0.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.713304774683589 + 0.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.713304774683589[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.304251968956780 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.304251968956780[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.600827195345143 + 0.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.600827195345143[0m ×2 + 0.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.600827195345076 + 0.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.600827195345076[0m ×2 + 0.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.086951612402562 + 0.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.086951612402562[0m ×2 + 0.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.499286998143123 + 0.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.499286998143123[0m ×2 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.300188840557535 + 0.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.300188840557535[0m ×2 + 0.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.688459797915645 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.688459797915645[0m ×2 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.039211086766116 + 0.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.039211086766116[0m ×2 + 0.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.603776634761438 + 0.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.603776634761438[0m ×2 + 0.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.778926814304198 + 0.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.778926814304198[0m ×2 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.267224385280327 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.267224385280327[0m ×2 + 0.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.898890886774573 + 0.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.898890886774573[0m ×2 + 0.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.482463915582499 + 0.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.482463915582499[0m ×2 + 0.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.008198678280089 + 0.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.008198678280089[0m ×2 + 0.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.584086795252185 + 0.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.584086795252185[0m ×2 + 0.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.802154231744294 + 0.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.802154231744294[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.300573319978437 + 0.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.300573319978437[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.746447763283083 ×2 + 0.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.746447763283083[0m ×4 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1756.705 us (Expected < 1666.667 us) --> Read time : 242.862 us, Update time : 495.404 us, Write time : 1018.439 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1756.705 us (Expected < 1666.667 us) --> Read time : 242.862 us, Update time : 495.404 us, Write time : 1018.439 us[0m ×2 + 0.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.040184652384609 + 0.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.040184652384609[0m ×2 + 0.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.823619404785472 + 0.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.823619404785472[0m ×2 + 0.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.208383254609489 + 0.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.208383254609489[0m ×2 + 0.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.732464094282294 + 0.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.732464094282294[0m ×2 + 0.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.165363413997726 + 0.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.165363413997726[0m ×2 + 0.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.538702823540504 + 0.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.538702823540504[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.005619167278805 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.005619167278805[0m ×2 + 0.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.022232363833295 + 0.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.022232363833295[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.506174905902913 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.506174905902913[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.809547358829402 + 0.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.809547358829402[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229714 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229714 ms (missed cycles : 2).[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.809547358829416 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.809547358829416[0m ×2 + 0.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.062828108993624 + 0.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.062828108993624[0m ×2 + 0.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.562436613504026 + 0.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.562436613504026[0m ×2 + 0.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.562436613504065 + 0.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.562436613504065[0m ×2 + 0.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.001207462333479 + 0.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.001207462333479[0m ×2 + 0.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.377712273445411 + 0.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.377712273445411[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.882639841654278 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.882639841654278[0m ×2 + 0.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.679508102066261 + 0.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.679508102066261[0m ×2 + 0.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.181609752476913 + 0.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.181609752476913[0m ×2 + 0.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.565953453216112 + 0.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.565953453216112[0m ×2 + 0.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.145074119538804 + 0.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.145074119538804[0m ×2 + 0.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.433346850413337 + 0.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.433346850413337[0m ×2 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.873211140719437 + 0.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.873211140719437[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.717184619436940 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.717184619436940[0m ×2 + 0.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.266957599222433 + 0.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.266957599222433[0m ×2 + 0.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.560392794535442 + 0.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.560392794535442[0m ×2 + 0.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.975619179366491 + 0.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.975619179366491[0m ×2 + 0.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.435230559289614 + 0.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.435230559289614[0m ×2 + 0.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.878095421085209 + 0.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.878095421085209[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.878095421085220 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.878095421085220[0m ×2 + 0.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.740939766890349 + 0.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.740939766890349[0m ×2 + 0.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.285370123107626 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.285370123107626[0m ×2 + 0.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.017767847256319 + 0.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.017767847256319[0m ×2 + 0.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.456112878620182 + 0.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.456112878620182[0m ×2 + 0.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.014348244817793 + 0.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.014348244817793[0m ×2 + 0.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.561209959988279 + 0.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.561209959988279[0m ×2 + 0.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.202702278332815 ×2 + 0.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.202702278332815[0m ×4 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.688565527634470 + 0.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.688565527634470[0m ×2 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.277121351289658 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.277121351289658[0m ×2 + 0.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.017266176932612 + 0.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.017266176932612[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.767427309612232 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.767427309612232[0m ×2 + 0.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.569035840389988 + 0.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.569035840389988[0m ×2 + 0.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.058744810138219 + 0.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.058744810138219[0m ×2 + 0.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.372355558806850 + 0.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.372355558806850[0m ×2 + 0.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.863803355917058 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.863803355917058[0m ×2 + 0.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.307608942726135 + 0.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.307608942726135[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.653206680139460 + 0.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.653206680139460[0m ×2 + 0.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.178170549394650 + 0.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.178170549394650[0m ×2 + 0.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.980743525557227 + 0.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.980743525557227[0m ×2 + 0.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.126384477987969 + 0.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.126384477987969[0m ×2 + 0.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.942037785339359 + 0.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.942037785339359[0m ×2 + 0.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.231100440471756 + 0.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.231100440471756[0m ×2 + 0.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.231100440471700 + 0.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.231100440471700[0m ×2 + 0.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.687818290730604 + 0.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.687818290730604[0m ×2 + 0.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.512256687374745 + 0.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.512256687374745[0m ×2 + 0.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.363090278165689 + 0.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.363090278165689[0m ×2 + 0.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.776148118216877 + 0.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.776148118216877[0m ×2 + 0.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.204188277579476 + 0.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.204188277579476[0m ×2 + 1.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.634494470365084 + 1.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.634494470365084[0m ×2 + 1.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.331923259010637 + 1.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.331923259010637[0m ×2 + 1.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.778825731005050 + 1.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.778825731005050[0m ×2 + 1.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.519075834106822 + 1.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.519075834106822[0m ×2 + 1.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.808343096897097 + 1.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.808343096897097[0m ×2 + 1.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.768697720144945 + 1.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.768697720144945[0m ×2 + 1.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.953529885856611 + 1.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.953529885856611[0m ×2 + 1.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.284734004780118 + 1.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.284734004780118[0m ×2 + 1.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.642490429321137 + 1.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.642490429321137[0m ×2 + 1.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.081976206067418 + 1.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.081976206067418[0m ×2 + 1.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.534724800511253 + 1.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.534724800511253[0m ×2 + 1.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.980964349394663 + 1.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.980964349394663[0m ×2 + 1.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.420910755734056 + 1.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.420910755734056[0m ×2 + 1.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.975848508557435 ×2 + 1.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.975848508557435[0m ×4 + 1.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.280820602929420 + 1.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.280820602929420[0m ×2 + 1.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.711793668963400 + 1.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.711793668963400[0m ×2 + 1.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.139033599699818 + 1.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.139033599699818[0m ×2 + 1.19sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780495392.35310864 seconds ×3 + 1.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.595236788440520 + 1.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.595236788440520[0m ×2 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.20sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.32sWARNcontroller_managerOverrun might occur, Total time : 5543.649 us (Expected < 1666.667 us) --> Read time : 193.669 us, Update time : 4780.962 us, Write time : 569.018 us + 1.32sWARNros2_control_nodeOverrun might occur, Total time : 5543.649 us (Expected < 1666.667 us) --> Read time : 193.669 us, Update time : 4780.962 us, Write time : 569.018 us[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288403 ms (missed cycles : 4). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288403 ms (missed cycles : 4).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780495393.02973104 seconds. ×3 + 1.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×9 + 1.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×3 + 1.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×6 + 1.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×3 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 2.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 2.02sINFOros2_control_node[2026-06-03 14:03:13.183] [info] Received new action goal ×2 + 2.02sINFOros2_control_node[2026-06-03 14:03:13.183] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 2.12sINFOobjective_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 + 2.14sINFOobjective_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 + 2.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.918700 ms (missed cycles : 6). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.918700 ms (missed cycles : 6).[0m ×2 + 2.79sWARNcontroller_managerOverrun might occur, Total time : 2263.449 us (Expected < 1666.667 us) --> Read time : 370.628 us, Update time : 532.586 us, Write time : 1360.235 us + 2.79sWARNros2_control_nodeOverrun might occur, Total time : 2263.449 us (Expected < 1666.667 us) --> Read time : 370.628 us, Update time : 532.586 us, Write time : 1360.235 us[0m ×2 + 3.27sERRORobjective_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 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780495394.43885612 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126467 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126467 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780495395.03163338 seconds. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.03sWARNcontroller_managerOverrun might occur, Total time : 1799.467 us (Expected < 1666.667 us) --> Read time : 542.106 us, Update time : 147.487 us, Write time : 1109.874 us + 4.03sWARNros2_control_nodeOverrun might occur, Total time : 1799.467 us (Expected < 1666.667 us) --> Read time : 542.106 us, Update time : 147.487 us, Write time : 1109.874 us[0m ×2 + 4.05sINFOros2_control_node[2026-06-03 14:03:15.213] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-03 14:03:15.215] [info] Accepted new action goal ×2 + 4.33sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view" + 4.34sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999008 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999008 ms (missed cycles : 3).[0m ×2 + 5.08sWARNcontroller_managerOverrun might occur, Total time : 2365.455 us (Expected < 1666.667 us) --> Read time : 311.175 us, Update time : 1308.144 us, Write time : 746.136 us + 5.08sWARNros2_control_nodeOverrun might occur, Total time : 2365.455 us (Expected < 1666.667 us) --> Read time : 311.175 us, Update time : 1308.144 us, Write time : 746.136 us[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628035 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628035 ms (missed cycles : 4).[0m ×2 + 6.14sWARNcontroller_managerOverrun might occur, Total time : 3316.401 us (Expected < 1666.667 us) --> Read time : 194.770 us, Update time : 2665.949 us, Write time : 455.682 us + 6.15sWARNros2_control_nodeOverrun might occur, Total time : 3316.401 us (Expected < 1666.667 us) --> Read time : 194.770 us, Update time : 2665.949 us, Write time : 455.682 us[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200081 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200081 ms (missed cycles : 4).[0m ×2 + 6.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 6.92sINFOros2_control_node[2026-06-03 14:03:18.090] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-06-03 14:03:18.090] [info] Accepted new action goal ×2 + 7.20sWARNcontroller_managerOverrun might occur, Total time : 3786.083 us (Expected < 1666.667 us) --> Read time : 300.024 us, Update time : 2907.011 us, Write time : 579.048 us + 7.20sWARNros2_control_nodeOverrun might occur, Total time : 3786.083 us (Expected < 1666.667 us) --> Read time : 300.024 us, Update time : 2907.011 us, Write time : 579.048 us[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452603 ms (missed cycles : 5). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452603 ms (missed cycles : 5).[0m ×2 + 8.30sWARNcontroller_managerOverrun might occur, Total time : 1816.018 us (Expected < 1666.667 us) --> Read time : 190.129 us, Update time : 42.342 us, Write time : 1583.547 us + 8.30sWARNros2_control_nodeOverrun might occur, Total time : 1816.018 us (Expected < 1666.667 us) --> Read time : 190.129 us, Update time : 42.342 us, Write time : 1583.547 us[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967798 ms (missed cycles : 2). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967798 ms (missed cycles : 2).[0m ×2 + 9.33sINFOros2_control_node[2026-06-03 14:03:20.500] [info] Received new action goal ×2 + 9.33sINFOros2_control_node[2026-06-03 14:03:20.500] [info] Accepted new action goal ×2 + 9.60sWARNcontroller_managerOverrun might occur, Total time : 4883.468 us (Expected < 1666.667 us) --> Read time : 210.791 us, Update time : 4191.053 us, Write time : 481.624 us + 9.60sWARNros2_control_nodeOverrun might occur, Total time : 4883.468 us (Expected < 1666.667 us) --> Read time : 210.791 us, Update time : 4191.053 us, Write time : 481.624 us[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.438168 ms (missed cycles : 6). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.438168 ms (missed cycles : 6).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090436 ms (missed cycles : 3). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090436 ms (missed cycles : 3).[0m ×2 + 10.87sWARNcontroller_managerOverrun might occur, Total time : 6657.684 us (Expected < 1666.667 us) --> Read time : 139.547 us, Update time : 5929.298 us, Write time : 588.839 us + 10.87sWARNros2_control_nodeOverrun might occur, Total time : 6657.684 us (Expected < 1666.667 us) --> Read time : 139.547 us, Update time : 5929.298 us, Write time : 588.839 us[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251863 ms (missed cycles : 4). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251863 ms (missed cycles : 4).[0m ×2 + 11.89sWARNcontroller_managerOverrun might occur, Total time : 2039.789 us (Expected < 1666.667 us) --> Read time : 636.621 us, Update time : 143.947 us, Write time : 1259.221 us + 11.89sWARNros2_control_nodeOverrun might occur, Total time : 2039.789 us (Expected < 1666.667 us) --> Read time : 636.621 us, Update time : 143.947 us, Write time : 1259.221 us[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224861 ms (missed cycles : 4). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224861 ms (missed cycles : 4).[0m ×2 + 12.94sWARNcontroller_managerOverrun might occur, Total time : 6617.210 us (Expected < 1666.667 us) --> Read time : 373.778 us, Update time : 82.334 us, Write time : 6161.098 us + 12.94sWARNros2_control_nodeOverrun might occur, Total time : 6617.210 us (Expected < 1666.667 us) --> Read time : 373.778 us, Update time : 82.334 us, Write time : 6161.098 us[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259770 ms (missed cycles : 4). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259770 ms (missed cycles : 4).[0m ×2 + 14.01sWARNcontroller_managerOverrun might occur, Total time : 2126.894 us (Expected < 1666.667 us) --> Read time : 287.514 us, Update time : 252.072 us, Write time : 1587.308 us + 14.01sWARNros2_control_nodeOverrun might occur, Total time : 2126.894 us (Expected < 1666.667 us) --> Read time : 287.514 us, Update time : 252.072 us, Write time : 1587.308 us[0m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.934973 ms (missed cycles : 5). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.934973 ms (missed cycles : 5).[0m ×2 + 15.22sWARNcontroller_managerOverrun might occur, Total time : 3745.762 us (Expected < 1666.667 us) --> Read time : 3124.022 us, Update time : 93.474 us, Write time : 528.266 us + 15.22sWARNros2_control_nodeOverrun might occur, Total time : 3745.762 us (Expected < 1666.667 us) --> Read time : 3124.022 us, Update time : 93.474 us, Write time : 528.266 us[0m ×2 + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893832 ms (missed cycles : 5). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893832 ms (missed cycles : 5).[0m ×2 + 15.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001177446497545 + 15.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001177446497545[0m ×2 + 15.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000872955333084 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000872955333084[0m ×2 + 15.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000712746139111 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000712746139111[0m ×2 + 15.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000332995273006 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000332995273006[0m ×2 + 16.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001169193892252 + 16.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001169193892252[0m ×2 + 16.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000678688873675 + 16.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000678688873675[0m ×2 + 16.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051587326377 ×2 + 16.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051587326377[0m ×4 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000221707137352 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000221707137352[0m ×2 + 16.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001380455705118 + 16.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001380455705118[0m ×2 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002448454847696 + 16.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002448454847696[0m ×2 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003776491712394 + 16.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003776491712394[0m ×2 + 16.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003820927171504 + 16.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003820927171504[0m ×2 + 16.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003781508466831 + 16.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003781508466831[0m ×2 + 16.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003708622432740 + 16.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003708622432740[0m ×2 + 16.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003630945277502 + 16.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003630945277502[0m ×2 + 16.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003762099079317 + 16.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003762099079317[0m ×2 + 16.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003648909349856 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003648909349856[0m ×2 + 16.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003301327248039 + 16.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003301327248039[0m ×2 + 16.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001614997463484 + 16.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001614997463484[0m ×2 + 16.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888867872633 + 16.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888867872633[0m ×2 + 16.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001092352721267 + 16.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001092352721267[0m ×2 + 16.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000479408859467 + 16.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000479408859467[0m ×2 + 16.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000127031418927 + 16.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000127031418927[0m ×2 + 16.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054373298173 + 16.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054373298173[0m ×2 + 16.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005740812826 + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005740812826[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000820719478201 + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000820719478201[0m ×2 + 16.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001981128558021 + 16.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001981128558021[0m ×2 + 16.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002682698185156 + 16.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002682698185156[0m ×2 + 16.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001690380213773 + 16.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001690380213773[0m ×2 + 16.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001685866244851 + 16.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001685866244851[0m ×2 + 16.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000978183432005 + 16.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000978183432005[0m ×2 + 16.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003306020890726 + 16.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003306020890726[0m ×2 + 16.30sWARNcontroller_managerOverrun might occur, Total time : 1960.835 us (Expected < 1666.667 us) --> Read time : 671.592 us, Update time : 887.333 us, Write time : 401.910 us + 16.30sWARNros2_control_nodeOverrun might occur, Total time : 1960.835 us (Expected < 1666.667 us) --> Read time : 671.592 us, Update time : 887.333 us, Write time : 401.910 us[0m ×2 + 16.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003772695696279 + 16.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003772695696279[0m ×2 + 16.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004030156458367 + 16.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004030156458367[0m ×2 + 16.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002765884706628 + 16.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002765884706628[0m ×2 + 16.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004329134703919 + 16.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004329134703919[0m ×2 + 16.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003010139913050 + 16.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003010139913050[0m ×2 + 16.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005812651969539 + 16.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005812651969539[0m ×2 + 16.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004852196144797 + 16.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004852196144797[0m ×2 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004273933668378 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004273933668378[0m ×2 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003843084347081 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003843084347081[0m ×2 + 16.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003459201245622 + 16.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003459201245622[0m ×2 + 16.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001807275659690 + 16.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001807275659690[0m ×2 + 16.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003040181478777 + 16.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003040181478777[0m ×2 + 16.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001814060801765 + 16.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001814060801765[0m ×2 + 16.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437126349166 + 16.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437126349166[0m ×2 + 16.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002834510999789 + 16.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002834510999789[0m ×2 + 16.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003255569685848 + 16.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003255569685848[0m ×2 + 16.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001839231809924 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001839231809924[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003211161816231 + 16.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003211161816231[0m ×2 + 16.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003351142835794 + 16.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003351142835794[0m ×2 + 16.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002615314696968 + 16.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002615314696968[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003547768823658 + 16.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003547768823658[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001976124593418 + 16.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001976124593418[0m ×2 + 16.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001973694626587 + 16.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001973694626587[0m ×2 + 16.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874274453291 + 16.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874274453291[0m ×2 + 16.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002244983580994 ×2 + 16.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002244983580994[0m ×4 + 16.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004138620731004 + 16.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004138620731004[0m ×2 + 16.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005209291495097 + 16.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005209291495097[0m ×2 + 16.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004534471844612 + 16.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004534471844612[0m ×2 + 16.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004560494856206 + 16.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004560494856206[0m ×2 + 16.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002906688129985 + 16.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002906688129985[0m ×2 + 16.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001756598915166 + 16.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001756598915166[0m ×2 + 16.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002310595475221 + 16.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002310595475221[0m ×2 + 16.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001813476461991 + 16.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001813476461991[0m ×2 + 16.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002376083444427 + 16.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002376083444427[0m ×2 + 16.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002737795685334 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002737795685334[0m ×2 + 16.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003730982083750 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003730982083750[0m ×2 + 16.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004954800639947 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004954800639947[0m ×2 + 16.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002959325760653 + 16.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002959325760653[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000180835733709 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000180835733709[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002743492216427 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002743492216427[0m ×2 + 16.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002764322789819 + 16.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002764322789819[0m ×2 + 16.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001596821741249 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001596821741249[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000372230570352 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000372230570352[0m ×2 + 16.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001498101207118 + 16.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001498101207118[0m ×2 + 16.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003609342692200 + 16.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003609342692200[0m ×2 + 16.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002246478712127 + 16.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002246478712127[0m ×2 + 16.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001718429709898 + 16.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001718429709898[0m ×2 + 16.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001455367068686 + 16.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001455367068686[0m ×2 + 16.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001426174625535 + 16.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001426174625535[0m ×2 + 16.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003555851393771 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003555851393771[0m ×2 + 16.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002088129198398 ×2 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002088129198398[0m ×4 + 16.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000860569936289 + 16.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000860569936289[0m ×2 + 16.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000211645933692 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000211645933692[0m ×2 + 16.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001536874838937 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001536874838937[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001537010648470 + 16.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001537010648470[0m ×2 + 16.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000388498200915 + 16.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000388498200915[0m ×2 + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706260 ms (missed cycles : 2). + 16.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002894505333267 + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706260 ms (missed cycles : 2).[0m ×2 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002894505333267[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004546813515608 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004546813515608[0m ×2 + 16.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005572637697321 + 16.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005572637697321[0m ×2 + 16.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004825187958905 + 16.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004825187958905[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005652639095223 + 16.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005652639095223[0m ×2 + 16.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004788919415136 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004788919415136[0m ×2 + 16.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004185032319583 + 16.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004185032319583[0m ×2 + 16.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005969126722322 + 16.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005969126722322[0m ×2 + 16.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003596570744865 + 16.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003596570744865[0m ×2 + 16.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001862339897508 + 16.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001862339897508[0m ×2 + 16.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001621179274353 + 16.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001621179274353[0m ×2 + 16.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002048156307717 + 16.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002048156307717[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012705237020 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012705237020[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000424267325555 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000424267325555[0m ×2 + 16.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000373549222025 + 16.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000373549222025[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000158448866160 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000158448866160[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088597474494 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088597474494[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088573675695 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088573675695[0m ×2 + 17.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001445819152717 + 17.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001445819152717[0m ×2 + 17.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000896035738580 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000896035738580[0m ×2 + 17.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003333987855811 + 17.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003333987855811[0m ×2 + 17.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002689768390144 + 17.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002689768390144[0m ×2 + 17.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003521999369876 + 17.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003521999369876[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004886828613390 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004886828613390[0m ×2 + 17.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002775656343378 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002775656343378[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003467580320566 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003467580320566[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004787040048723 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004787040048723[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004787055228467 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004787055228467[0m ×2 + 17.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002806747914952 + 17.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002806747914952[0m ×2 + 17.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002956975288532 + 17.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002956975288532[0m ×2 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001747987642008 + 17.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001747987642008[0m ×2 + 17.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000725996679057 + 17.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000725996679057[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000193824214815 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000193824214815[0m ×2 + 17.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000181202906593 + 17.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000181202906593[0m ×2 + 17.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002715248875002 + 17.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002715248875002[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002960656510009 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002960656510009[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004796257725400 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004796257725400[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004466137957271 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004466137957271[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071162143356 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071162143356[0m ×2 + 17.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004070993836495 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004070993836495[0m ×2 + 17.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005209321633476 + 17.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005209321633476[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003020791166079 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003020791166079[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001361211035469 ×2 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001361211035469[0m ×4 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000385964266136 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000385964266136[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000438859528418 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000438859528418[0m ×2 + 17.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000604305559906 + 17.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000604305559906[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003124580390618 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003124580390618[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695908396589 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695908396589[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002820615323860 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002820615323860[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004363677412077 + 17.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004363677412077[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004800799394049 + 17.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004800799394049[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004292280711053 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004292280711053[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002521419508722 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002521419508722[0m ×2 + 17.36sWARNcontroller_managerOverrun might occur, Total time : 2148.415 us (Expected < 1666.667 us) --> Read time : 286.584 us, Update time : 84.864 us, Write time : 1776.967 us + 17.36sWARNros2_control_nodeOverrun might occur, Total time : 2148.415 us (Expected < 1666.667 us) --> Read time : 286.584 us, Update time : 84.864 us, Write time : 1776.967 us[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002736424108951 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002736424108951[0m ×2 + 17.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004189318057964 + 17.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004189318057964[0m ×2 + 17.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002599920327938 + 17.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002599920327938[0m ×2 + 17.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001663819049787 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001663819049787[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001899098859537 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001899098859537[0m ×2 + 17.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002847180405994 + 17.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002847180405994[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001561935720024 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001561935720024[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000754926479618 + 17.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000754926479618[0m ×2 + 17.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000114288219703 + 17.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000114288219703[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000104205830801 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000104205830801[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001396274810497 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001396274810497[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000702394387097 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000702394387097[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000701461203022 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000701461203022[0m ×2 + 17.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000387392802020 + 17.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000387392802020[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010884755646 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010884755646[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061069399986 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061069399986[0m ×2 + 17.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020211596540 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020211596540[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056093674937 + 17.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056093674937[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000424458325393 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000424458325393[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002508081516207 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002508081516207[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001539048333242 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001539048333242[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001538925310849 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001538925310849[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001981932298925 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001981932298925[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000514944140645 ×2 + 17.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000514944140645[0m ×4 + 17.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005522639460062 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005522639460062[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006272543700093 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006272543700093[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379206627931 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379206627931[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002220059410589 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002220059410589[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002214700151576 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002214700151576[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001014089418897 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001014089418897[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000299118153481 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000299118153481[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000398713172085 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000398713172085[0m ×2 + 17.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000433539144880 + 17.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000433539144880[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000495785942133 + 17.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000495785942133[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000303428695631 ×2 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000303428695631[0m ×4 + 17.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000448221757689 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000448221757689[0m ×2 + 17.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000296251201363 + 17.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000296251201363[0m ×2 + 17.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000331172576030 + 17.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000331172576030[0m ×2 + 17.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000946301713290 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000946301713290[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000814117572949 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000814117572949[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000790818825389 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000790818825389[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000498793797674 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000498793797674[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000302222605486 ×2 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000302222605486[0m ×4 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000175598391465 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000175598391465[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000098101548619 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000098101548619[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001524978842803 + 17.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001524978842803[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001012000310671 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001012000310671[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000647883510516 ×2 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000647883510516[0m ×4 + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.566679 ms (missed cycles : 5). + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000285752436013 + 17.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.566679 ms (missed cycles : 5).[0m ×2 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000285752436013[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000089204690292 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000089204690292[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001124753037523 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001124753037523[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001284674606179 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001284674606179[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001721510507989 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001721510507989[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001239872693900 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001239872693900[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000673571084452 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000673571084452[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000660283786866 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000660283786866[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000962974760243 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000962974760243[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000232291227974 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000232291227974[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000078238087163 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000078238087163[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000155447458136 ×2 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000155447458136[0m ×4 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000180463275298 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000180463275298[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002600297782660 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002600297782660[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001329448445678 ×2 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001329448445678[0m ×4 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000745641219862 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000745641219862[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000355363677643 ×2 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000355363677643[0m ×4 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000108837200823 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000108837200823[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035321513608 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035321513608[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000107176051309 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000107176051309[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000116826244841 ×2 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000116826244841[0m ×4 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000953160527742 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000953160527742[0m ×2 + 18.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000642819213548 + 18.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000642819213548[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000280638903558 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000280638903558[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000423577382283 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000423577382283[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000279454495829 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000279454495829[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000136954309168 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000136954309168[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000091121696115 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000091121696115[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000436306617456 + 18.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000436306617456[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000283818802857 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000283818802857[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000280569859116 ×2 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000280569859116[0m ×4 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000170447013239 + 18.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000170447013239[0m ×2 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000087592975955 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000087592975955[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000113798764355 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000113798764355[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001563311892273 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001563311892273[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001226436538356 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001226436538356[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001675577197781 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001675577197781[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002481249209488 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002481249209488[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004240754807161 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004240754807161[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005338183117808 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005338183117808[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005915843650045 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005915843650045[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006748038812212 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006748038812212[0m ×2 + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006710519969202 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006710519969202[0m ×2 + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005314232172146 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005314232172146[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005753633348060 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005753633348060[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004646167541943 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004646167541943[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005197484364385 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005197484364385[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004279482612463 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004279482612463[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003681126343390 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003681126343390[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004492853838686 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004492853838686[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005191066729149 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005191066729149[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004350473795504 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004350473795504[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005074386863752 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005074386863752[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005112050678958 + 18.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005112050678958[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283885266194 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283885266194[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005018683617280 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005018683617280[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004219485515839 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004219485515839[0m ×2 + 18.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004980786204583 + 18.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004980786204583[0m ×2 + 18.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004197342136098 + 18.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004197342136098[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004966901361276 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004966901361276[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191386089120 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191386089120[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004965523467408 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004965523467408[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191619480331 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191619480331[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004965690341796 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004965690341796[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191389083333 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191389083333[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004964669797286 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004964669797286[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004189910964123 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004189910964123[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004962563882248 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004962563882248[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005091031322678 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005091031322678[0m ×2 + 18.58sWARNcontroller_managerOverrun might occur, Total time : 2358.355 us (Expected < 1666.667 us) --> Read time : 352.238 us, Update time : 847.571 us, Write time : 1158.546 us + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004068620385150 + 18.58sWARNros2_control_nodeOverrun might occur, Total time : 2358.355 us (Expected < 1666.667 us) --> Read time : 352.238 us, Update time : 847.571 us, Write time : 1158.546 us[0m ×2 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004068620385150[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003740051670113 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003740051670113[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004779377973332 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004779377973332[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005589728887079 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005589728887079[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004665695734058 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004665695734058[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005304200070081 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005304200070081[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004420733108902 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004420733108902[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005108192210560 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005108192210560[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005546318973922 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005546318973922[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004546641311009 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004546641311009[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005176832628298 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005176832628298[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004290914126263 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004290914126263[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005100322882121 + 18.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005100322882121[0m ×2 + 18.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003132320445282 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003132320445282[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004396973415188 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004396973415188[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005200869734696 + 18.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005200869734696[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005679568314917 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005679568314917[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004670749555345 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004670749555345[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005262809605938 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005262809605938[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005625533934889 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005625533934889[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004564500296223 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004564500296223[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005141341352031 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005141341352031[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004244449824281 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004244449824281[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004940462763814 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004940462763814[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127063667117 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127063667117[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004935058736576 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004935058736576[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004118548813934 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004118548813934[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004869304678309 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004869304678309[0m ×2 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003094287990356 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003094287990356[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474015998551 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474015998551[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003318159521324 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003318159521324[0m ×2 + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008895548232513 + 18.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008895548232513[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008083204700635 + 18.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070829 ms (missed cycles : 2). + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008083204700635[0m ×2 + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070829 ms (missed cycles : 2).[0m ×2 + 18.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007401329106051 + 18.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007401329106051[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010939204044294 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010939204044294[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009184495541900 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009184495541900[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007916913819088 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007916913819088[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007038205664157 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007038205664157[0m ×2 + 18.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006458290779511 + 18.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006458290779511[0m ×2 + 18.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006092245802909 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006092245802909[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004604486228880 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004604486228880[0m ×2 + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005412481685051 + 19.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005412481685051[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003824444972239 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003824444972239[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004637945959382 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004637945959382[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005171201879043 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005171201879043[0m ×2 + 19.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005978203578314 + 19.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005978203578314[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004753535651219 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004753535651219[0m ×2 + 19.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005224098268424 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005224098268424[0m ×2 + 19.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005527713863042 + 19.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005527713863042[0m ×2 + 19.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004448222054584 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004448222054584[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005254404305573 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005254404305573[0m ×2 + 19.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005527182060022 + 19.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005527182060022[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429482926887 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429482926887[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004996385908472 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004996385908472[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003025462027654 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003025462027654[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003830734619764 + 19.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003830734619764[0m ×2 + 19.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004796553263088 + 19.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004796553263088[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005393161491428 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005393161491428[0m ×2 + 19.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005734734504013 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005734734504013[0m ×2 + 19.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005906318710160 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005906318710160[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006342331667033 + 19.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006342331667033[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006268095384748 + 19.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006268095384748[0m ×2 + 19.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006148442298515 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006148442298515[0m ×2 + 19.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004778528164982 + 19.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004778528164982[0m ×2 + 19.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003700486854246 + 19.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003700486854246[0m ×2 + 19.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004582385479198 + 19.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004582385479198[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005160962552494 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005160962552494[0m ×2 + 19.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005515033596725 + 19.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005515033596725[0m ×2 + 19.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005715193282937 + 19.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005715193282937[0m ×2 + 19.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004137715153733 + 19.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004137715153733[0m ×2 + 19.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004855882681153 + 19.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004855882681153[0m ×2 + 19.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006336229533786 + 19.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006336229533786[0m ×2 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004417747336329 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004417747336329[0m ×2 + 19.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005025841524294 + 19.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005025841524294[0m ×2 + 19.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005408490405837 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005408490405837[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006209103394492 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006209103394492[0m ×2 + 19.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006132102901290 + 19.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006132102901290[0m ×2 + 19.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006039186993458 + 19.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006039186993458[0m ×2 + 19.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695586176761 + 19.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695586176761[0m ×2 + 19.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005088015681765 + 19.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005088015681765[0m ×2 + 19.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005351908380625 + 19.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005351908380625[0m ×2 + 19.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005784632504850 + 19.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005784632504850[0m ×2 + 19.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005790612704270 + 19.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005790612704270[0m ×2 + 19.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004526630776208 + 19.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004526630776208[0m ×2 + 19.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004976909342384 + 19.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004976909342384[0m ×2 + 19.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005775089359346 + 19.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005775089359346[0m ×2 + 19.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005776864513501 + 19.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005776864513501[0m ×2 + 19.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005764872859293 + 19.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005764872859293[0m ×2 + 19.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005744891056207 + 19.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005744891056207[0m ×2 + 19.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005722585445904 + 19.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005722585445904[0m ×2 + 19.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003986384170639 + 19.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003986384170639[0m ×2 + 19.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004685105800331 + 19.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004685105800331[0m ×2 + 19.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005148176939824 + 19.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005148176939824[0m ×2 + 19.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005439338178991 + 19.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005439338178991[0m ×2 + 19.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003997509848693 + 19.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003997509848693[0m ×2 + 19.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003528888980352 + 19.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003528888980352[0m ×2 + 19.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004525978034566 + 19.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004525978034566[0m ×2 + 19.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005156155037653 + 19.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005156155037653[0m ×2 + 19.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005534505947205 + 19.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005534505947205[0m ×2 + 19.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007001861746560 + 19.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007001861746560[0m ×2 + 19.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006636471160138 + 19.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006636471160138[0m ×2 + 19.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006329987021846 + 19.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006329987021846[0m ×2 + 19.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006083973231638 + 19.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006083973231638[0m ×2 + 19.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005899305014322 + 19.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005899305014322[0m ×2 + 19.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006328118605643 + 19.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006328118605643[0m ×2 + 19.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006032609391763 + 19.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006032609391763[0m ×2 + 19.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005827731142650 + 19.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005827731142650[0m ×2 + 19.65sWARNcontroller_managerOverrun might occur, Total time : 5983.241 us (Expected < 1666.667 us) --> Read time : 251.883 us, Update time : 5241.164 us, Write time : 490.194 us + 19.65sWARNros2_control_nodeOverrun might occur, Total time : 5983.241 us (Expected < 1666.667 us) --> Read time : 251.883 us, Update time : 5241.164 us, Write time : 490.194 us[0m ×2 + 19.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005953184141767 + 19.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005953184141767[0m ×2 + 19.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006264062357457 + 19.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006264062357457[0m ×2 + 19.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006476640087610 + 19.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006476640087610[0m ×2 + 19.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006591997485491 + 19.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006591997485491[0m ×2 + 19.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006628652785793 + 19.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006628652785793[0m ×2 + 19.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006301555739215 + 19.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006301555739215[0m ×2 + 19.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006048066112250 + 19.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006048066112250[0m ×2 + 19.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005860427277861 + 19.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005860427277861[0m ×2 + 19.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006091310486210 + 19.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006091310486210[0m ×2 + 19.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005869924180754 + 19.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005869924180754[0m ×2 + 19.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005717963504175 + 19.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005717963504175[0m ×2 + 19.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005617306887558 + 19.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005617306887558[0m ×2 + 19.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006043335855912 + 19.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006043335855912[0m ×2 + 19.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006271933744103 + 19.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006271933744103[0m ×2 + 19.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006026309139611 + 19.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006026309139611[0m ×2 + 19.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005841963936708 + 19.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005841963936708[0m ×2 + 19.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005709088860284 + 19.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005709088860284[0m ×2 + 19.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004401899389633 + 19.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004401899389633[0m ×2 + 19.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005186721093497 + 19.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005186721093497[0m ×2 + 19.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005284743044837 + 19.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005284743044837[0m ×2 + 19.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005356441067534 + 19.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005356441067534[0m ×2 + 19.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005406973126062 + 19.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005406973126062[0m ×2 + 19.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006063939481613 + 19.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006063939481613[0m ×2 + 19.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005922033873314 + 19.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005922033873314[0m ×2 + 19.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006704354139837 + 19.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006704354139837[0m ×2 + 19.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006283700803708 + 19.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006283700803708[0m ×2 + 19.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006359457383202 + 19.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006359457383202[0m ×2 + 19.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006060187058842 + 19.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006060187058842[0m ×2 + 19.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005836476038669 + 19.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005836476038669[0m ×2 + 19.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005676451785303 + 19.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005676451785303[0m ×2 + 19.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006466117046265 + 19.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006466117046265[0m ×2 + 19.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006057759164380 + 19.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006057759164380[0m ×2 + 19.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005777248348457 + 19.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005777248348457[0m ×2 + 19.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.617758 ms (missed cycles : 5). + 19.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.617758 ms (missed cycles : 5).[0m ×2 + 19.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005593300893207 + 19.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005593300893207[0m ×2 + 19.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005476774145273 + 19.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005476774145273[0m ×2 + 20.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005411572204473 + 20.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005411572204473[0m ×2 + 20.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005964389752901 + 20.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005964389752901[0m ×2 + 20.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005809732500128 + 20.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005809732500128[0m ×2 + 20.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005683791808556 + 20.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005683791808556[0m ×2 + 20.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007121371173263 + 20.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007121371173263[0m ×2 + 20.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006479811356010 + 20.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006479811356010[0m ×2 + 20.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006027067911647 + 20.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006027067911647[0m ×2 + 20.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005708202122021 + 20.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005708202122021[0m ×2 + 20.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005515961131654 + 20.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005515961131654[0m ×2 + 20.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006290110976443 + 20.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006290110976443[0m ×2 + 20.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005881210180246 + 20.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005881210180246[0m ×2 + 20.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002239873204728 + 20.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002239873204728[0m ×2 + 20.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003669134331857 + 20.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003669134331857[0m ×2 + 20.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006797982202067 + 20.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006797982202067[0m ×2 + 20.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008729737238285 + 20.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008729737238285[0m ×2 + 20.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007594532501000 + 20.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007594532501000[0m ×2 + 20.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006754797516748 + 20.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006754797516748[0m ×2 + 20.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006159991928753 + 20.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006159991928753[0m ×2 + 20.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007582637029203 + 20.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007582637029203[0m ×2 + 20.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006641065302949 + 20.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006641065302949[0m ×2 + 20.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006197140290295 + 20.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006197140290295[0m ×2 + 20.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006966178613706 + 20.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006966178613706[0m ×2 + 20.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006282292844161 + 20.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006282292844161[0m ×2 + 20.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005819217723107 + 20.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005819217723107[0m ×2 + 20.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005523285674164 + 20.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005523285674164[0m ×2 + 20.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005345225099041 + 20.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005345225099041[0m ×2 + 20.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007465850933635 + 20.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007465850933635[0m ×2 + 20.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006568684840029 + 20.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006568684840029[0m ×2 + 20.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006262035317902 + 20.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006262035317902[0m ×2 + 20.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008091882252243 + 20.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008091882252243[0m ×2 + 20.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006976659129950 + 20.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006976659129950[0m ×2 + 20.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007389310941729 + 20.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007389310941729[0m ×2 + 20.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006455393220669 + 20.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006455393220669[0m ×2 + 20.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006162903351694 + 20.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006162903351694[0m ×2 + 20.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007996735424009 + 20.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007996735424009[0m ×2 + 20.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006906797196244 + 20.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006906797196244[0m ×2 + 20.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006156277517167 + 20.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006156277517167[0m ×2 + 20.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005663713130113 + 20.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005663713130113[0m ×2 + 20.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007553405720528 + 20.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007553405720528[0m ×2 + 20.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007775241593417 + 20.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007775241593417[0m ×2 + 20.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006681484628964 + 20.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006681484628964[0m ×2 + 20.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005951884509001 + 20.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005951884509001[0m ×2 + 20.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005490727066066 + 20.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005490727066066[0m ×2 + 20.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007407740570988 + 20.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007407740570988[0m ×2 + 20.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006430919182934 + 20.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006430919182934[0m ×2 + 20.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005787343712498 + 20.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005787343712498[0m ×2 + 20.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007569067008083 + 20.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007569067008083[0m ×2 + 20.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006507570068983 + 20.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006507570068983[0m ×2 + 20.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005809698641452 + 20.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005809698641452[0m ×2 + 20.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007199109911538 + 20.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007199109911538[0m ×2 + 20.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006237167579363 + 20.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006237167579363[0m ×2 + 20.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005619427861271 + 20.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005619427861271[0m ×2 + 20.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005243819669170 + 20.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005243819669170[0m ×2 + 20.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007230688611702 + 20.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007230688611702[0m ×2 + 20.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006274681803062 + 20.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006274681803062[0m ×2 + 20.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007914321904807 + 20.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007914321904807[0m ×2 + 20.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006746643330598 + 20.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006746643330598[0m ×2 + 20.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005961187338955 + 20.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005961187338955[0m ×2 + 20.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007340689831787 + 20.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007340689831787[0m ×2 + 20.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006312080938628 + 20.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006312080938628[0m ×2 + 20.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007803169476322 + 20.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007803169476322[0m ×2 + 20.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006573003382788 + 20.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006573003382788[0m ×2 + 20.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005770837095215 + 20.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005770837095215[0m ×2 + 20.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005580995499492 + 20.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005580995499492[0m ×2 + 20.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007448339650731 + 20.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007448339650731[0m ×2 + 20.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008603043512570 + 20.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008603043512570[0m ×2 + 20.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008720495947440 + 20.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008720495947440[0m ×2 + 20.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007186760190677 + 20.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007186760190677[0m ×2 + 20.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006074312091325 + 20.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006074312091325[0m ×2 + 20.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007676297746109 + 20.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007676297746109[0m ×2 + 20.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008661616548372 + 20.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008661616548372[0m ×2 + 20.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007081723730366 + 20.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007081723730366[0m ×2 + 20.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008166769610724 + 20.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008166769610724[0m ×2 + 20.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006694262097178 + 20.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006694262097178[0m ×2 + 20.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007873636348364 + 20.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007873636348364[0m ×2 + 20.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006485399709590 + 20.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006485399709590[0m ×2 + 20.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007841881497065 + 20.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007841881497065[0m ×2 + 20.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006438727228772 + 20.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006438727228772[0m ×2 + 20.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007673034508399 + 20.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007673034508399[0m ×2 + 20.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006338389802999 + 20.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006338389802999[0m ×2 + 20.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007608315072027 + 20.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007608315072027[0m ×2 + 20.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008003819919461 + 20.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008003819919461[0m ×2 + 20.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006549842620914 + 20.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006549842620914[0m ×2 + 20.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007732676956485 + 20.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007732676956485[0m ×2 + 20.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008472312051054 + 20.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008472312051054[0m ×2 + 20.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008490595146924 + 20.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008490595146924[0m ×2 + 20.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006814647759512 + 20.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006814647759512[0m ×2 + 20.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007843759700020 + 20.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007843759700020[0m ×2 + 20.86sWARNcontroller_managerOverrun might occur, Total time : 2405.437 us (Expected < 1666.667 us) --> Read time : 1321.514 us, Update time : 111.816 us, Write time : 972.107 us + 20.86sWARNros2_control_nodeOverrun might occur, Total time : 2405.437 us (Expected < 1666.667 us) --> Read time : 1321.514 us, Update time : 111.816 us, Write time : 972.107 us[0m ×2 + 20.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006390973264718 + 20.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006390973264718[0m ×2 + 20.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005507044385911 + 20.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005507044385911[0m ×2 + 20.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007181261118305 + 20.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007181261118305[0m ×2 + 20.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008234404543690 + 20.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008234404543690[0m ×2 + 20.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008846951766093 + 20.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008846951766093[0m ×2 + 20.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006472269179898 + 20.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006472269179898[0m ×2 + 20.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005645594119449 + 20.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005645594119449[0m ×2 + 20.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007286723392062 + 20.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007286723392062[0m ×2 + 20.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008300351448374 + 20.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008300351448374[0m ×2 + 20.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008874268732765 + 20.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008874268732765[0m ×2 + 20.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009154618851805 + 20.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009154618851805[0m ×2 + 20.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009541668279271 + 20.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009541668279271[0m ×2 + 21.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007415603346482 + 21.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007415603346482[0m ×2 + 21.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008093801499232 + 21.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008093801499232[0m ×2 + 21.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006443532981783 + 21.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006443532981783[0m ×2 + 21.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007762606198552 + 21.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007762606198552[0m ×2 + 21.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008282434248209 + 21.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008282434248209[0m ×2 + 21.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006531067191624 + 21.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006531067191624[0m ×2 + 21.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805675 ms (missed cycles : 2). + 21.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805675 ms (missed cycles : 2).[0m ×2 + 21.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007489162780628 + 21.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007489162780628[0m ×2 + 21.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008113137953127 + 21.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008113137953127[0m ×2 + 21.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005942696921177 + 21.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005942696921177[0m ×2 + 21.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005303500869147 + 21.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005303500869147[0m ×2 + 21.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007721089747487 + 21.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007721089747487[0m ×2 + 21.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008379136664133 + 21.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008379136664133[0m ×2 + 21.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008815320969070 + 21.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008815320969070[0m ×2 + 21.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009010519322342 + 21.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009010519322342[0m ×2 + 21.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010312494146174 + 21.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010312494146174[0m ×2 + 21.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007820703936357 + 21.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007820703936357[0m ×2 + 21.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008216693317126 + 21.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008216693317126[0m ×2 + 21.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008452285501364 + 21.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008452285501364[0m ×2 + 21.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009153905916806 + 21.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009153905916806[0m ×2 + 21.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009008694222656 + 21.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009008694222656[0m ×2 + 21.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006034008321452 + 21.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006034008321452[0m ×2 + 21.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007120616331377 + 21.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007120616331377[0m ×2 + 21.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007829990280355 + 21.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007829990280355[0m ×2 + 21.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008263053866800 + 21.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008263053866800[0m ×2 + 21.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009549576245619 + 21.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009549576245619[0m ×2 + 21.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009294475915045 + 21.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009294475915045[0m ×2 + 21.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009050247210328 + 21.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009050247210328[0m ×2 + 21.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008853983069048 + 21.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008853983069048[0m ×2 + 21.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009228876065491 + 21.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009228876065491[0m ×2 + 21.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337120495626 + 21.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337120495626[0m ×2 + 21.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006698322086119 + 21.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006698322086119[0m ×2 + 21.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007630320927054 + 21.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007630320927054[0m ×2 + 21.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008188579116444 + 21.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008188579116444[0m ×2 + 21.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005944805663810 + 21.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005944805663810[0m ×2 + 21.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008293769067274 + 21.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008293769067274[0m ×2 + 21.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008581458668643 + 21.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008581458668643[0m ×2 + 21.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008691463786670 + 21.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008691463786670[0m ×2 + 21.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008694745320305 + 21.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008694745320305[0m ×2 + 21.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008640240789574 + 21.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008640240789574[0m ×2 + 21.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010973599414173 + 21.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010973599414173[0m ×2 + 21.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009994522848819 + 21.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009994522848819[0m ×2 + 21.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009785296981459 + 21.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009785296981459[0m ×2 + 21.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009204345778414 + 21.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009204345778414[0m ×2 + 21.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008781648515387 + 21.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008781648515387[0m ×2 + 21.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008486225639786 + 21.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008486225639786[0m ×2 + 21.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008288043940450 + 21.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008288043940450[0m ×2 + 21.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008160790503020 + 21.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008160790503020[0m ×2 + 21.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009407151414797 + 21.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009407151414797[0m ×2 + 21.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008848599894100 + 21.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008848599894100[0m ×2 + 21.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008468129712737 + 21.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008468129712737[0m ×2 + 21.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008220607149268 + 21.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008220607149268[0m ×2 + 21.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009460563864075 + 21.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009460563864075[0m ×2 + 21.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008829423522345 + 21.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008829423522345[0m ×2 + 21.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008407680780319 + 21.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008407680780319[0m ×2 + 21.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008139684012762 + 21.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008139684012762[0m ×2 + 21.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008875679562456 + 21.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008875679562456[0m ×2 + 21.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009345844463442 + 21.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009345844463442[0m ×2 + 21.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008932454156582 + 21.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008932454156582[0m ×2 + 21.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011195101073799 + 21.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011195101073799[0m ×2 + 21.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009988582039893 + 21.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009988582039893[0m ×2 + 21.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009122923414752 + 21.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009122923414752[0m ×2 + 21.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008528212962813 + 21.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008528212962813[0m ×2 + 21.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008138598268196 + 21.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008138598268196[0m ×2 + 21.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011415025841292 + 21.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011415025841292[0m ×2 + 21.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009916451114206 + 21.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009916451114206[0m ×2 + 21.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008896368693097 + 21.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008896368693097[0m ×2 + 21.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008236405351534 + 21.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008236405351534[0m ×2 + 21.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010465005447552 + 21.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010465005447552[0m ×2 + 21.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009202190701752 + 21.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009202190701752[0m ×2 + 21.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008377989507599 + 21.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008377989507599[0m ×2 + 21.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006273352841945 + 21.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006273352841945[0m ×2 + 21.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010690136850299 + 21.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010690136850299[0m ×2 + 21.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013345907870412 + 21.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013345907870412[0m ×2 + 21.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011337270154595 + 21.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011337270154595[0m ×2 + 21.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013533783373978 + 21.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013533783373978[0m ×2 + 21.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006752501361005 + 21.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006752501361005[0m ×2 + 21.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010728651255041 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010728651255041[0m ×2 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011908931441736 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011908931441736[0m ×2 + 21.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013848702889119 + 21.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013848702889119[0m ×2 + 21.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011428909779020 + 21.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011428909779020[0m ×2 + 21.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013122761708660 + 21.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013122761708660[0m ×2 + 21.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010661390452499 + 21.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010661390452499[0m ×2 + 21.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012397141944875 + 21.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012397141944875[0m ×2 + 21.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010046405586438 + 21.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010046405586438[0m ×2 + 21.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008522573693660 + 21.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008522573693660[0m ×2 + 21.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010956636327509 + 21.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010956636327509[0m ×2 + 21.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009142190646262 + 21.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009142190646262[0m ×2 + 21.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011277167488646 + 21.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011277167488646[0m ×2 + 21.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009300135207392 + 21.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009300135207392[0m ×2 + 21.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011381220465063 + 21.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011381220465063[0m ×2 + 21.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009348188365067 + 21.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009348188365067[0m ×2 + 21.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011467432699675 + 21.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011467432699675[0m ×2 + 21.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009352326255650 + 21.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009352326255650[0m ×2 + 21.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011323801181537 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011323801181537[0m ×2 + 21.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009251875505557 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009251875505557[0m ×2 + 21.92sWARNcontroller_managerOverrun might occur, Total time : 2017.868 us (Expected < 1666.667 us) --> Read time : 257.393 us, Update time : 812.189 us, Write time : 948.286 us + 21.93sWARNros2_control_nodeOverrun might occur, Total time : 2017.868 us (Expected < 1666.667 us) --> Read time : 257.393 us, Update time : 812.189 us, Write time : 948.286 us[0m ×2 + 21.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011355348966070 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011355348966070[0m ×2 + 21.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008806830398467 + 21.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008806830398467[0m ×2 + 21.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008114975172554 + 21.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008114975172554[0m ×2 + 21.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010202943341303 + 21.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010202943341303[0m ×2 + 21.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012112147686581 + 21.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012112147686581[0m ×2 + 21.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013198443786248 + 21.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013198443786248[0m ×2 + 21.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013728467068134 + 21.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013728467068134[0m ×2 + 22.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010665903329765 + 22.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010665903329765[0m ×2 + 22.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011892191335214 + 22.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011892191335214[0m ×2 + 22.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013005411179435 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013005411179435[0m ×2 + 22.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006701897144667 + 22.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006701897144667[0m ×2 + 22.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009768410318395 + 22.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009768410318395[0m ×2 + 22.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011687522510218 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011687522510218[0m ×2 + 22.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012789005627345 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012789005627345[0m ×2 + 22.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016540133266073 + 22.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016540133266073[0m ×2 + 22.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008680 ms (missed cycles : 5). + 22.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008680 ms (missed cycles : 5).[0m ×2 + 22.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012447927311446 + 22.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012447927311446[0m ×2 + 22.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008811978987281 + 22.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008811978987281[0m ×2 + 22.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010703920212096 + 22.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010703920212096[0m ×2 + 22.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014416964424529 + 22.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014416964424529[0m ×2 + 22.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009618591553213 + 22.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009618591553213[0m ×2 + 22.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011129924338711 + 22.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011129924338711[0m ×2 + 22.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012043492078144 + 22.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012043492078144[0m ×2 + 22.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012538188499290 + 22.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012538188499290[0m ×2 + 22.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014518493873806 + 22.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014518493873806[0m ×2 + 22.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013959605633834 + 22.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013959605633834[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013459823995190 + 22.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013459823995190[0m ×2 + 22.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013040599118894 + 22.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013040599118894[0m ×2 + 22.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012704655185967 + 22.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012704655185967[0m ×2 + 22.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012731195707611 + 22.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012731195707611[0m ×2 + 22.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012460621525660 + 22.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012460621525660[0m ×2 + 22.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012256750910348 + 22.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012256750910348[0m ×2 + 22.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012105510662655 + 22.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012105510662655[0m ×2 + 22.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012671675276983 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012671675276983[0m ×2 + 22.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012338170112185 + 22.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012338170112185[0m ×2 + 22.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012099925606225 + 22.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012099925606225[0m ×2 + 22.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011932843751716 + 22.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011932843751716[0m ×2 + 22.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012968340298795 + 22.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012968340298795[0m ×2 + 22.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011209425407351 + 22.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011209425407351[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017340708066950 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017340708066950[0m ×2 + 22.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015484763989612 + 22.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015484763989612[0m ×2 + 22.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014067369195304 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014067369195304[0m ×2 + 22.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015083052697586 + 22.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015083052697586[0m ×2 + 22.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011354508251536 + 22.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011354508251536[0m ×2 + 22.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013361033644368 + 22.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013361033644368[0m ×2 + 22.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018346606087693 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018346606087693[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020188564320608 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020188564320608[0m ×2 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016967709454686 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016967709454686[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014628680172812 + 22.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014628680172812[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013003441365096 + 22.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013003441365096[0m ×2 + 22.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011926629009335 + 22.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011926629009335[0m ×2 + 22.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013740536333381 + 22.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013740536333381[0m ×2 + 22.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012353302517289 + 22.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012353302517289[0m ×2 + 22.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011462917968937 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011462917968937[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010926941843756 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010926941843756[0m ×2 + 22.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014240749995531 + 22.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014240749995531[0m ×2 + 22.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012643456687226 + 22.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012643456687226[0m ×2 + 22.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010009635415723 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010009635415723[0m ×2 + 22.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015689787424191 + 22.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015689787424191[0m ×2 + 22.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019069498248122 + 22.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019069498248122[0m ×2 + 22.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015785851263227 + 22.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015785851263227[0m ×2 + 22.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013474259840182 + 22.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013474259840182[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016686986709551 + 22.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016686986709551[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013870425295582 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013870425295582[0m ×2 + 22.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012001516695926 + 22.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012001516695926[0m ×2 + 22.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015815237652416 + 22.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015815237652416[0m ×2 + 22.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016742132588170 + 22.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016742132588170[0m ×2 + 22.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013737615689904 + 22.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013737615689904[0m ×2 + 22.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011954184383714 + 22.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011954184383714[0m ×2 + 22.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015821054400412 + 22.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015821054400412[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018125751430028 + 22.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018125751430028[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014500657942301 + 22.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014500657942301[0m ×2 + 22.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016167503988920 + 22.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016167503988920[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013100758280395 + 22.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013100758280395[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015929731849443 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015929731849443[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012859129809820 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012859129809820[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015893839151423 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015893839151423[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012097271182352 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012097271182352[0m ×2 + 22.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015305840311234 + 22.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015305840311234[0m ×2 + 22.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017232870255569 + 22.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017232870255569[0m ×2 + 22.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018259330649160 + 22.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018259330649160[0m ×2 + 22.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014064410709148 + 22.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014064410709148[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015945803214095 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015945803214095[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017052227990343 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017052227990343[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013073592875781 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013073592875781[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015080068553594 + 22.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015080068553594[0m ×2 + 22.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017952483517191 + 22.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017952483517191[0m ×2 + 22.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013556513984451 + 22.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013556513984451[0m ×2 + 22.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015221564509230 + 22.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015221564509230[0m ×2 + 22.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019148454294957 + 22.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019148454294957[0m ×2 + 22.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019969695327653 + 22.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019969695327653[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020921966698708 + 22.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020921966698708[0m ×2 + 22.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015360935206279 + 22.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015360935206279[0m ×2 + 22.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016017990317930 + 22.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016017990317930[0m ×2 + 22.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016341344391310 + 22.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016341344391310[0m ×2 + 22.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019061309970991 + 22.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019061309970991[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018077489178260 + 22.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018077489178260[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017279811856199 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017279811856199[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016654459025998 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016654459025998[0m ×2 + 22.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016175797471631 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016175797471631[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017605494660128 + 22.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017605494660128[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016674824920449 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016674824920449[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016006170647306 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016006170647306[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014293422333300 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014293422333300[0m ×2 + 22.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022660451179616 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022660451179616[0m ×2 + 22.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020131351288327 + 22.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020131351288327[0m ×2 + 22.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024792123779106 + 22.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024792123779106[0m ×2 + 22.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017042966900391 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017042966900391[0m ×2 + 22.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015859366252211 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015859366252211[0m ×2 + 22.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015050489536908 + 22.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015050489536908[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021648508511339 + 22.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021648508511339[0m ×2 + 23.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018461817824136 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018461817824136[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016265950368630 + 23.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016265950368630[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014821715463737 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014821715463737[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020816245400426 + 23.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020816245400426[0m ×2 + 23.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021506567480397 + 23.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021506567480397[0m ×2 + 23.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017953868692547 + 23.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017953868692547[0m ×2 + 23.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.552981 ms (missed cycles : 5). + 23.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.552981 ms (missed cycles : 5).[0m ×2 + 23.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015564372699077 + 23.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015564372699077[0m ×2 + 23.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010706555394479 + 23.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010706555394479[0m ×2 + 23.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019122943125322 + 23.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019122943125322[0m ×2 + 23.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024018165283123 + 23.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024018165283123[0m ×2 + 23.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026477421350818 + 23.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026477421350818[0m ×2 + 23.12sWARNcontroller_managerOverrun might occur, Total time : 1818.248 us (Expected < 1666.667 us) --> Read time : 343.397 us, Update time : 762.347 us, Write time : 712.504 us + 23.13sWARNros2_control_nodeOverrun might occur, Total time : 1818.248 us (Expected < 1666.667 us) --> Read time : 343.397 us, Update time : 762.347 us, Write time : 712.504 us[0m ×2 + 23.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030556354793601 + 23.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030556354793601[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014529835680426 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014529835680426[0m ×2 + 23.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031195066351349 + 23.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031195066351349[0m ×2 + 23.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020010255594806 + 23.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020010255594806[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021998309762200 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021998309762200[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016939875841032 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016939875841032[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019637974171511 + 23.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019637974171511[0m ×2 + 23.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021675243387606 + 23.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021675243387606[0m ×2 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016510317533490 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016510317533490[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019035925682640 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019035925682640[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024352432117773 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024352432117773[0m ×2 + 23.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027946072291082 + 23.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027946072291082[0m ×2 + 23.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020320886363480 + 23.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020320886363480[0m ×2 + 23.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020789709726943 + 23.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020789709726943[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020853152518869 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020853152518869[0m ×2 + 23.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015263870631902 + 23.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015263870631902[0m ×2 + 23.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017126843617279 + 23.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017126843617279[0m ×2 + 23.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018253277724447 + 23.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018253277724447[0m ×2 + 23.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021592328564572 + 23.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021592328564572[0m ×2 + 23.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020827310153897 + 23.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020827310153897[0m ×2 + 23.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020095999838876 + 23.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020095999838876[0m ×2 + 23.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019434201305741 + 23.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019434201305741[0m ×2 + 23.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021100226588896 + 23.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021100226588896[0m ×2 + 23.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020007067304915 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020007067304915[0m ×2 + 23.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019062996115222 + 23.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019062996115222[0m ×2 + 23.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018274441993959 + 23.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018274441993959[0m ×2 + 23.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026256539257973 + 23.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026256539257973[0m ×2 + 23.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022222179397239 + 23.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022222179397239[0m ×2 + 23.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019360454591084 + 23.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019360454591084[0m ×2 + 23.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020895316958411 + 23.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020895316958411[0m ×2 + 23.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018307497730246 + 23.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018307497730246[0m ×2 + 23.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017868852212792 + 23.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017868852212792[0m ×2 + 23.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024460135107102 + 23.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024460135107102[0m ×2 + 23.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020372597027784 + 23.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020372597027784[0m ×2 + 23.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025066125371053 + 23.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025066125371053[0m ×2 + 23.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020088580239350 + 23.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020088580239350[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016730716265372 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016730716265372[0m ×2 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021717183883210 + 23.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021717183883210[0m ×2 + 23.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017513798547572 + 23.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017513798547572[0m ×2 + 23.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021636662166296 + 23.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021636662166296[0m ×2 + 23.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028580558738761 + 23.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028580558738761[0m ×2 + 23.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021301017862377 + 23.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021301017862377[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023484712505702 + 23.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023484712505702[0m ×2 + 23.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017691432003585 + 23.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017691432003585[0m ×2 + 23.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020113342113502 + 23.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020113342113502[0m ×2 + 23.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021344146679024 + 23.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021344146679024[0m ×2 + 23.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021751810259935 + 23.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021751810259935[0m ×2 + 23.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021162205053566 + 23.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021162205053566[0m ×2 + 23.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024732848597653 + 23.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024732848597653[0m ×2 + 23.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014373685577363 + 23.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014373685577363[0m ×2 + 23.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016432582186838 + 23.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016432582186838[0m ×2 + 23.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017629049536849 + 23.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017629049536849[0m ×2 + 23.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023795256756434 + 23.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023795256756434[0m ×2 + 23.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021787866157351 + 23.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021787866157351[0m ×2 + 23.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020118116937285 + 23.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020118116937285[0m ×2 + 23.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018767817766567 + 23.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018767817766567[0m ×2 + 23.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024393989520982 + 23.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024393989520982[0m ×2 + 23.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008078472296456 + 23.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008078472296456[0m ×2 + 23.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020089744316322 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020089744316322[0m ×2 + 23.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.041704747632933 + 23.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.041704747632933[0m ×2 + 23.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026913372042640 + 23.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026913372042640[0m ×2 + 23.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018980385504896 + 23.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018980385504896[0m ×2 + 23.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024575688401146 + 23.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024575688401146[0m ×2 + 23.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028635999007816 + 23.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028635999007816[0m ×2 + 23.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028142094979542 + 23.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028142094979542[0m ×2 + 23.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026703064672047 + 23.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026703064672047[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024898600774707 + 23.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024898600774707[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033032590270145 + 23.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033032590270145[0m ×2 + 23.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036195977188206 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036195977188206[0m ×2 + 23.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019699493077825 + 23.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019699493077825[0m ×2 + 23.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017835318529142 + 23.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017835318529142[0m ×2 + 23.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024869849183198 + 23.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024869849183198[0m ×2 + 23.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025282128737966 + 23.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025282128737966[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020289163068433 + 23.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020289163068433[0m ×2 + 23.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016602635024967 + 23.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016602635024967[0m ×2 + 23.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014793559915963 + 23.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014793559915963[0m ×2 + 23.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007810999920354 + 23.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007810999920354[0m ×2 + 23.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014779055403882 + 23.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014779055403882[0m ×2 + 23.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018373309694004 + 23.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018373309694004[0m ×2 + 23.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019649663590634 + 23.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019649663590634[0m ×2 + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022726972277910 + 23.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022726972277910[0m ×2 + 23.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021151266296700 + 23.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021151266296700[0m ×2 + 23.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019155868720600 + 23.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019155868720600[0m ×2 + 23.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016854517428406 + 23.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016854517428406[0m ×2 + 23.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021248006227105 + 23.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021248006227105[0m ×2 + 23.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014067029358164 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014067029358164[0m ×2 + 23.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004788259893705 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004788259893705[0m ×2 + 24.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008520578252024 + 24.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008520578252024[0m ×2 + 24.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004072829433606 + 24.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004072829433606[0m ×2 + 24.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013022837803004 + 24.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013022837803004[0m ×2 + 24.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012325829802536 + 24.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012325829802536[0m ×2 + 24.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012392473682197 + 24.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012392473682197[0m ×2 + 24.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006058833907438 + 24.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006058833907438[0m ×2 + 24.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007938061668622 + 24.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007938061668622[0m ×2 + 24.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008798314406806 + 24.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008798314406806[0m ×2 + 24.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006142453044636 + 24.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006142453044636[0m ×2 + 24.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018423830376586 + 24.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018423830376586[0m ×2 + 24.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007503 ms (missed cycles : 5). + 24.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007503 ms (missed cycles : 5).[0m ×2 + 24.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013770871461475 + 24.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013770871461475[0m ×2 + 24.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010388549555001 + 24.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010388549555001[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008038879445220 + 24.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008038879445220[0m ×2 + 24.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006483305569071 + 24.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006483305569071[0m ×2 + 24.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005509736897410 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005509736897410[0m ×2 + 24.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004884805620197 + 24.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004884805620197[0m ×2 + 24.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006331241143769 + 24.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006331241143769[0m ×2 + 24.16sWARNcontroller_managerOverrun might occur, Total time : 1968.375 us (Expected < 1666.667 us) --> Read time : 150.607 us, Update time : 1413.289 us, Write time : 404.479 us + 24.16sWARNros2_control_nodeOverrun might occur, Total time : 1968.375 us (Expected < 1666.667 us) --> Read time : 150.607 us, Update time : 1413.289 us, Write time : 404.479 us[0m ×2 + 24.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005517070163942 + 24.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005517070163942[0m ×2 + 24.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005391466258636 + 24.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005391466258636[0m ×2 + 24.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003419036032153 + 24.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003419036032153[0m ×2 + 24.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004016771661618 + 24.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004016771661618[0m ×2 + 24.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006510627807405 + 24.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006510627807405[0m ×2 + 24.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005883003552538 + 24.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005883003552538[0m ×2 + 24.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004672191278426 + 24.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004672191278426[0m ×2 + 24.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006555947222105 + 24.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006555947222105[0m ×2 + 24.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006892292229606 + 24.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006892292229606[0m ×2 + 24.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004516737870425 + 24.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004516737870425[0m ×2 + 24.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006143358132934 + 24.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006143358132934[0m ×2 + 24.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005362918039269 + 24.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005362918039269[0m ×2 + 24.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004985182958104 + 24.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004985182958104[0m ×2 + 24.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002689558796653 ×2 + 24.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002689558796653[0m ×4 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004561271073198 + 24.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004561271073198[0m ×2 + 24.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344481212177 + 24.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344481212177[0m ×2 + 24.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004308330077233 + 24.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004308330077233[0m ×2 + 24.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005513716582521 + 24.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005513716582521[0m ×2 + 24.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006116832637984 + 24.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006116832637984[0m ×2 + 24.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006484575584987 + 24.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006484575584987[0m ×2 + 24.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006942358387202 + 24.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006942358387202[0m ×2 + 24.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005575914378583 + 24.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005575914378583[0m ×2 + 24.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005932803269007 + 24.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005932803269007[0m ×2 + 24.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004844970000248 + 24.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004844970000248[0m ×2 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005389033804186 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005389033804186[0m ×2 + 24.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005674398077811 + 24.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005674398077811[0m ×2 + 24.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004604868470137 + 24.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004604868470137[0m ×2 + 24.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005046511372419 + 24.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005046511372419[0m ×2 + 24.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005764006351539 + 24.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005764006351539[0m ×2 + 24.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005736290282859 + 24.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005736290282859[0m ×2 + 24.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005578499043946 + 24.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005578499043946[0m ×2 + 24.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002984517068286 + 24.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002984517068286[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003040094395809 + 24.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003040094395809[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003921879485945 + 24.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003921879485945[0m ×2 + 24.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004423940857812 + 24.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004423940857812[0m ×2 + 24.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005528084293420 + 24.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005528084293420[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002968367837030 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002968367837030[0m ×2 + 24.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003648883227275 + 24.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003648883227275[0m ×2 + 24.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005640433543488 + 24.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005640433543488[0m ×2 + 24.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006701928723557 + 24.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006701928723557[0m ×2 + 24.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005716997747012 + 24.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005716997747012[0m ×2 + 24.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004969165213955 + 24.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004969165213955[0m ×2 + 24.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005761991962398 + 24.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005761991962398[0m ×2 + 24.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006000059463351 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006000059463351[0m ×2 + 24.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005004858497797 + 24.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005004858497797[0m ×2 + 24.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005525095071801 + 24.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005525095071801[0m ×2 + 24.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004572096886237 + 24.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004572096886237[0m ×2 + 24.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005006519907085 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005006519907085[0m ×2 + 24.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005243625127594 + 24.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005243625127594[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005218570989356 + 24.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005218570989356[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007526972596033 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007526972596033[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005791692308493 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005791692308493[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005910959518507 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005910959518507[0m ×2 + 24.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004773003721581 + 24.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004773003721581[0m ×2 + 24.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004076414103979 + 24.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004076414103979[0m ×2 + 24.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004489060050905 + 24.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004489060050905[0m ×2 + 24.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004012226730143 + 24.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004012226730143[0m ×2 + 24.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001233331729323 + 24.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001233331729323[0m ×2 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039221799369 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039221799369[0m ×2 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003888439874312 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003888439874312[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004418460145110 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004418460145110[0m ×2 + 24.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004772742295040 + 24.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004772742295040[0m ×2 + 24.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005146401544824 + 24.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005146401544824[0m ×2 + 24.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004786314564823 + 24.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004786314564823[0m ×2 + 24.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004522182916047 + 24.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004522182916047[0m ×2 + 24.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004638361008767 + 24.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004638361008767[0m ×2 + 24.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004105578317602 + 24.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004105578317602[0m ×2 + 24.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003687267020052 + 24.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003687267020052[0m ×2 + 24.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002287982566727 + 24.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002287982566727[0m ×2 + 24.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002278839586554 + 24.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002278839586554[0m ×2 + 24.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002176654166145 + 24.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002176654166145[0m ×2 + 24.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002889283986402 + 24.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002889283986402[0m ×2 + 24.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002424147685252 + 24.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002424147685252[0m ×2 + 24.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002035025064343 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002035025064343[0m ×2 + 24.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001223770280169 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001223770280169[0m ×2 + 24.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001602107945174 + 24.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001602107945174[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001345374808060 + 24.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001345374808060[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000816704812500 + 24.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000816704812500[0m ×2 + 24.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001031958516693 + 24.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001031958516693[0m ×2 + 24.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000861979056786 + 24.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000861979056786[0m ×2 + 24.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000712011907496 + 24.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000712011907496[0m ×2 + 24.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000592506713039 + 24.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000592506713039[0m ×2 + 24.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000678568049674 + 24.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000678568049674[0m ×2 + 24.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000534678039390 + 24.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000534678039390[0m ×2 + 25.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000418059855480 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000418059855480[0m ×2 + 25.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000327002084844 + 25.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000327002084844[0m ×2 + 25.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000251777463588 + 25.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000251777463588[0m ×2 + 25.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000243401251763 + 25.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000243401251763[0m ×2 + 25.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000184098671178 + 25.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000184098671178[0m ×2 + 25.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000131570706326 + 25.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000131570706326[0m ×2 + 25.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000094873966642 + 25.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000094873966642[0m ×2 + 25.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000067737325018 + 25.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000067737325018[0m ×2 + 25.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000040189498489 + 25.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000040189498489[0m ×2 + 25.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014036432356 + 25.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014036432356[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015035454767 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015035454767[0m ×2 + 25.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006474461081 + 25.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006474461081[0m ×2 + 25.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009550802980 + 25.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009550802980[0m ×2 + 25.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000082050613302 + 25.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000082050613302[0m ×2 + 25.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000086083297982 + 25.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000086083297982[0m ×2 + 25.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824932 ms (missed cycles : 4). + 25.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000095017593488 + 25.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824932 ms (missed cycles : 4).[0m ×2 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000095017593488[0m ×2 + 25.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000099531737705 + 25.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000099531737705[0m ×2 + 25.16sWARNcontroller_managerOverrun might occur, Total time : 2584.265 us (Expected < 1666.667 us) --> Read time : 195.400 us, Update time : 1925.303 us, Write time : 463.562 us + 25.16sWARNros2_control_nodeOverrun might occur, Total time : 2584.265 us (Expected < 1666.667 us) --> Read time : 195.400 us, Update time : 1925.303 us, Write time : 463.562 us[0m ×2 + 25.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000068376895742 + 25.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000068376895742[0m ×2 + 25.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067805582778 + 25.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067805582778[0m ×2 + 25.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097000279395 + 25.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097000279395[0m ×2 + 25.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000162039870611 + 25.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000162039870611[0m ×2 + 25.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000147843656644 + 25.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000147843656644[0m ×2 + 25.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000135709271960 + 25.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000135709271960[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000192514575109 + 25.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000192514575109[0m ×2 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000157248004932 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000157248004932[0m ×2 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000132549312766 + 25.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000132549312766[0m ×2 + 25.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000183121509009 + 25.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000183121509009[0m ×2 + 25.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000144190394921 + 25.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000144190394921[0m ×2 + 25.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000118327981336 + 25.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000118327981336[0m ×2 + 25.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000101354209806 + 25.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000101354209806[0m ×2 + 25.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000144919835773 + 25.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000144919835773[0m ×2 + 25.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048979893146 + 25.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048979893146[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062618461600 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062618461600[0m ×2 + 25.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000069155819145 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000069155819145[0m ×2 + 25.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072377015048 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072377015048[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000106971168753 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000106971168753[0m ×2 + 25.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000091586763114 + 25.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000091586763114[0m ×2 + 25.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000079887641949 + 25.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000079887641949[0m ×2 + 25.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109256492852 + 25.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109256492852[0m ×2 + 25.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000087623558784 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000087623558784[0m ×2 + 25.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072613646663 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072613646663[0m ×2 + 25.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097782819909 + 25.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097782819909[0m ×2 + 25.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000076501034026 + 25.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000076501034026[0m ×2 + 25.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062237625148 + 25.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062237625148[0m ×2 + 25.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052853264161 + 25.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052853264161[0m ×2 + 25.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046759693500 + 25.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046759693500[0m ×2 + 25.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042720353336 + 25.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042720353336[0m ×2 + 25.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039912607282 + 25.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039912607282[0m ×2 + 25.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057456705216 + 25.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057456705216[0m ×2 + 25.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047414320529 + 25.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047414320529[0m ×2 + 25.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040488979153 + 25.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040488979153[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055215505243 + 25.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055215505243[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043862700987 + 25.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043862700987[0m ×2 + 25.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036182714128 + 25.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036182714128[0m ×2 + 25.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048614309002 + 25.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048614309002[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024496989420 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024496989420[0m ×2 + 25.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023312067057 + 25.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023312067057[0m ×2 + 25.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022359236401 + 25.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022359236401[0m ×2 + 25.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032257925142 + 25.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032257925142[0m ×2 + 25.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018060654243 + 25.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018060654243[0m ×2 + 25.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018066147595 + 25.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018066147595[0m ×2 + 25.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017746363224 + 25.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017746363224[0m ×2 + 25.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025423014987 + 25.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025423014987[0m ×2 + 25.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021348978389 + 25.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021348978389[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018336124693 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018336124693[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016140854873 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016140854873[0m ×2 + 25.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022096869828 + 25.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022096869828[0m ×2 + 25.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011798067220 + 25.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011798067220[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017111348078 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017111348078[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014304440168 + 25.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014304440168[0m ×2 + 25.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012295922765 + 25.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012295922765[0m ×2 + 25.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010892995906 + 25.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010892995906[0m ×2 + 25.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009862526735 + 25.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009862526735[0m ×2 + 25.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009091547122 + 25.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009091547122[0m ×2 + 25.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012761438063 + 25.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012761438063[0m ×2 + 25.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010497704220 + 25.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010497704220[0m ×2 + 25.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008890522166 + 25.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008890522166[0m ×2 + 25.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011941188852 + 25.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011941188852[0m ×2 + 25.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009463338610 + 25.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009463338610[0m ×2 + 25.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007764558932 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007764558932[0m ×2 + 25.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006620712539 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006620712539[0m ×2 + 25.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009022914617 + 25.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009022914617[0m ×2 + 25.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007170352187 + 25.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007170352187[0m ×2 + 25.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009285271385 + 25.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009285271385[0m ×2 + 25.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003190340284 + 25.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003190340284[0m ×2 + 25.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003511543037 + 25.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003511543037[0m ×2 + 25.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003659607950 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003659607950[0m ×2 + 25.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005318226601 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005318226601[0m ×2 + 25.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004538846782 + 25.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004538846782[0m ×2 + 25.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003931306758 + 25.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003931306758[0m ×2 + 25.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003480157160 + 25.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003480157160[0m ×2 + 25.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003127915707 + 25.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003127915707[0m ×2 + 25.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004314325264 + 25.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004314325264[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003511223586 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003511223586[0m ×2 + 25.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002941982330 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002941982330[0m ×2 + 25.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002545502133 + 25.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002545502133[0m ×2 + 25.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002263463811 + 25.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002263463811[0m ×2 + 25.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002058951835 + 25.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002058951835[0m ×2 + 25.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002876693494 + 25.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002876693494[0m ×2 + 25.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002354473511 + 25.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002354473511[0m ×2 + 25.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001986065743 + 25.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001986065743[0m ×2 + 25.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000910354336 + 25.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000910354336[0m ×2 + 25.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000892049385 + 25.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000892049385[0m ×2 + 25.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001511085168 + 25.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001511085168[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001434628244 + 25.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001434628244[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001333117409 + 25.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001333117409[0m ×2 + 25.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001813662495 + 25.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001813662495[0m ×2 + 25.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000571734232 + 25.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000571734232[0m ×2 + 25.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000732845599 + 25.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000732845599[0m ×2 + 25.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001135511500 + 25.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001135511500[0m ×2 + 25.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001028727584 + 25.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001028727584[0m ×2 + 25.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000930568247 + 26.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000930568247[0m ×2 + 26.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000842894049 + 26.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000842894049[0m ×2 + 26.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001150133942 + 26.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001150133942[0m ×2 + 26.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000943070985 + 26.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000943070985[0m ×2 + 26.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000791615262 + 26.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000791615262[0m ×2 + 26.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001050115085 + 26.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001050115085[0m ×2 + 26.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000830632251 + 26.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000830632251[0m ×2 + 26.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000678267066 + 26.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000678267066[0m ×2 + 26.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000575293351 + 26.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000575293351[0m ×2 + 26.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000505446163 + 26.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000505446163[0m ×2 + 26.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000457553150 + 26.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000457553150[0m ×2 + 26.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000641767664 + 26.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000641767664[0m ×2 + 26.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000525615539 + 26.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000525615539[0m ×2 + 26.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000444658611 + 26.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000444658611[0m ×2 + 26.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000598680714 + 26.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000598680714[0m ×2 + 26.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000475022838 + 26.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000475022838[0m ×2 + 26.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000390631165 + 26.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000390631165[0m ×2 + 26.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000519465510 + 26.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000519465510[0m ×2 + 26.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000405797411 + 26.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000405797411[0m ×2 + 26.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000329397130 + 26.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000329397130[0m ×2 + 26.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716760 ms (missed cycles : 3). + 26.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000437131035 + 26.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716760 ms (missed cycles : 3).[0m ×2 + 26.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000437131035[0m ×2 + 26.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000220068778 + 26.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000220068778[0m ×2 + 26.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000206758325 + 26.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000206758325[0m ×2 + 26.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000197147829 + 26.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000197147829[0m ×2 + 26.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000187583395 + 26.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000187583395[0m ×2 + 26.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000178584528 + 26.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000178584528[0m ×2 + 26.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000251745912 + 26.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000251745912[0m ×2 + 26.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000209135479 + 26.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000209135479[0m ×2 + 26.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000177859200 + 26.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000177859200[0m ×2 + 26.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000237826223 + 26.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000237826223[0m ×2 + 26.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000188639249 + 26.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000188639249[0m ×2 + 26.24sWARNcontroller_managerOverrun might occur, Total time : 2142.104 us (Expected < 1666.667 us) --> Read time : 178.148 us, Update time : 1543.885 us, Write time : 420.071 us + 26.24sWARNros2_control_nodeOverrun might occur, Total time : 2142.104 us (Expected < 1666.667 us) --> Read time : 178.148 us, Update time : 1543.885 us, Write time : 420.071 us[0m ×2 + 26.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000154491588 + 26.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000154491588[0m ×2 + 26.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000865341886 + 26.26sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000865341886[0m ×2 + 26.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000799998432 + 26.27sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000799998432[0m ×2 + 26.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000741109825 + 26.27sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000741109825[0m ×2 + 26.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000133754630 + 26.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000133754630[0m ×2 + 26.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000763022233 + 26.29sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000763022233[0m ×2 + 26.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000696614533 + 26.29sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000696614533[0m ×2 + 26.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000131060721 + 26.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000131060721[0m ×2 + 26.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000573802353 + 26.32sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000573802353[0m ×2 + 26.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000529355237 + 26.32sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000529355237[0m ×2 + 26.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000596609538 + 26.34sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000596609538[0m ×2 + 26.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000443294451 + 26.35sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000443294451[0m ×2 + 26.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000412378857 + 26.36sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000412378857[0m ×2 + 26.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000384085587 + 26.36sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000384085587[0m ×2 + 26.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000436138342 + 26.37sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000436138342[0m ×2 + 26.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000398159248 + 26.38sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000398159248[0m ×2 + 26.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000444904944 + 26.38sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000444904944[0m ×2 + 26.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000400462985 + 26.39sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000400462985[0m ×2 + 26.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000361804164 + 26.40sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000361804164[0m ×2 + 26.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000400871536 + 26.40sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000400871536[0m ×2 + 26.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000357876428 + 26.41sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000357876428[0m ×2 + 26.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000320701697 + 26.42sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000320701697[0m ×2 + 26.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000353226869 + 26.42sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000353226869[0m ×2 + 26.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000313324927 + 26.43sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000313324927[0m ×2 + 26.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000279031338 + 26.43sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000279031338[0m ×2 + 26.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000306015381 + 26.44sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000306015381[0m ×2 + 26.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000270109788 + 26.45sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000270109788[0m ×2 + 26.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000239404807 + 26.46sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000239404807[0m ×2 + 26.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000261727124 + 26.46sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000261727124[0m ×2 + 26.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000230147759 + 26.47sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000230147759[0m ×2 + 26.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000203249254 + 26.47sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000203249254[0m ×2 + 26.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000221670142 + 26.48sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000221670142[0m ×2 + 26.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000194362824 + 26.49sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000194362824[0m ×2 + 26.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000171172844 + 26.52sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000171172844[0m ×2 + 26.52sINFOjoint_trajectory_controllerAccepted new action goal ×767 + 26.52sINFOros2_control_nodeAccepted new action goal[0m ×1534 + 26.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000122811846 + 26.53sERRORros2_control_nodeVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000122811846[0m ×2 + 27.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689508 ms (missed cycles : 3). + 27.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689508 ms (missed cycles : 3).[0m ×2 + 27.32sWARNcontroller_managerOverrun might occur, Total time : 1755.535 us (Expected < 1666.667 us) --> Read time : 284.714 us, Update time : 225.251 us, Write time : 1245.570 us + 27.32sWARNros2_control_nodeOverrun might occur, Total time : 1755.535 us (Expected < 1666.667 us) --> Read time : 284.714 us, Update time : 225.251 us, Write time : 1245.570 us[0m ×2 + 28.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693053 ms (missed cycles : 4). + 28.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693053 ms (missed cycles : 4).[0m ×2 + 28.35sWARNcontroller_managerOverrun might occur, Total time : 1700.763 us (Expected < 1666.667 us) --> Read time : 201.960 us, Update time : 778.538 us, Write time : 720.265 us + 28.35sWARNros2_control_nodeOverrun might occur, Total time : 1700.763 us (Expected < 1666.667 us) --> Read time : 201.960 us, Update time : 778.538 us, Write time : 720.265 us[0m ×2 + 29.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450717 ms (missed cycles : 4). + 29.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450717 ms (missed cycles : 4).[0m ×2 + 29.36sWARNcontroller_managerOverrun might occur, Total time : 6208.502 us (Expected < 1666.667 us) --> Read time : 270.173 us, Update time : 74.784 us, Write time : 5863.545 us + 29.36sWARNros2_control_nodeOverrun might occur, Total time : 6208.502 us (Expected < 1666.667 us) --> Read time : 270.173 us, Update time : 74.784 us, Write time : 5863.545 us[0m ×2 + 30.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216702 ms (missed cycles : 2). + 30.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216702 ms (missed cycles : 2).[0m ×2 + 30.78sWARNcontroller_managerOverrun might occur, Total time : 6539.797 us (Expected < 1666.667 us) --> Read time : 217.961 us, Update time : 1124.484 us, Write time : 5197.352 us + 30.78sWARNros2_control_nodeOverrun might occur, Total time : 6539.797 us (Expected < 1666.667 us) --> Read time : 217.961 us, Update time : 1124.484 us, Write time : 5197.352 us[0m ×2 + 31.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839774 ms (missed cycles : 2). + 31.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839774 ms (missed cycles : 2).[0m ×2 + 31.89sWARNcontroller_managerOverrun might occur, Total time : 1958.525 us (Expected < 1666.667 us) --> Read time : 332.566 us, Update time : 92.774 us, Write time : 1533.185 us + 31.89sWARNros2_control_nodeOverrun might occur, Total time : 1958.525 us (Expected < 1666.667 us) --> Read time : 332.566 us, Update time : 92.774 us, Write time : 1533.185 us[0m ×2 + 32.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126091 ms (missed cycles : 2). + 32.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126091 ms (missed cycles : 2).[0m ×2 + 33.12sWARNcontroller_managerOverrun might occur, Total time : 3144.132 us (Expected < 1666.667 us) --> Read time : 790.078 us, Update time : 236.192 us, Write time : 2117.862 us + 33.13sWARNros2_control_nodeOverrun might occur, Total time : 3144.132 us (Expected < 1666.667 us) --> Read time : 790.078 us, Update time : 236.192 us, Write time : 2117.862 us[0m ×2 + 33.28sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780495424.44333148 seconds ×3 + 33.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986488 ms (missed cycles : 2). + 33.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986488 ms (missed cycles : 2).[0m ×2 + 33.73sINFOjoint_trajectory_controllerGoal reached, success! + 33.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 33.93sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780495425.10204983 seconds. ×3 + 33.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 33.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 34.17sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 34.18sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 34.26sWARNcontroller_managerOverrun might occur, Total time : 6709.026 us (Expected < 1666.667 us) --> Read time : 124.116 us, Update time : 5997.702 us, Write time : 587.208 us + 34.26sWARNros2_control_nodeOverrun might occur, Total time : 6709.026 us (Expected < 1666.667 us) --> Read time : 124.116 us, Update time : 5997.702 us, Write time : 587.208 us[0m ×2 + 34.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731818 ms (missed cycles : 2). + 34.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731818 ms (missed cycles : 2).[0m ×2 + 35.12sINFOobjective_server_nodeFound path in 6 iterations (0.00486167 s). ×2 + 35.18sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] ×2 + 35.19sINFOros2_control_node[2026-06-03 14:03:46.358] [info] Received new action goal ×2 + 35.19sINFOros2_control_node[2026-06-03 14:03:46.358] [info] Accepted new action goal ×2 + 35.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731321 ms (missed cycles : 2). + 35.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731321 ms (missed cycles : 2).[0m ×2 + 35.57sWARNcontroller_managerOverrun might occur, Total time : 2666.089 us (Expected < 1666.667 us) --> Read time : 145.907 us, Update time : 35.212 us, Write time : 2484.970 us + 35.57sWARNros2_control_nodeOverrun might occur, Total time : 2666.089 us (Expected < 1666.667 us) --> Read time : 145.907 us, Update time : 35.212 us, Write time : 2484.970 us[0m ×2 + 36.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169559 ms (missed cycles : 5). + 36.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169559 ms (missed cycles : 5).[0m ×2 + 36.67sWARNcontroller_managerOverrun might occur, Total time : 1834.559 us (Expected < 1666.667 us) --> Read time : 128.167 us, Update time : 49.192 us, Write time : 1657.200 us + 36.67sWARNros2_control_nodeOverrun might occur, Total time : 1834.559 us (Expected < 1666.667 us) --> Read time : 128.167 us, Update time : 49.192 us, Write time : 1657.200 us[0m ×2
✓ passed	Pick April Tag Labeled Object	apriltag_pick_object.xml	29.7s	3 errors · 204 warnings · 132 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 8178.437 us (Expected < 1666.667 us) --> Read time : 161.178 us, Update time : 7474.463 us, Write time : 542.796 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 8178.437 us (Expected < 1666.667 us) --> Read time : 161.178 us, Update time : 7474.463 us, Write time : 542.796 us[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693640 ms (missed cycles : 6). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693640 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496826 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496826 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 4826.344 us (Expected < 1666.667 us) --> Read time : 265.913 us, Update time : 4066.467 us, Write time : 493.964 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 4826.344 us (Expected < 1666.667 us) --> Read time : 265.913 us, Update time : 4066.467 us, Write time : 493.964 us[0m ×2 + 1.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×4 + 1.70sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.71sINFOros2_control_node[2026-06-03 14:00:15.526] [info] Received new action goal ×2 + 1.71sINFOros2_control_node[2026-06-03 14:00:15.526] [info] Accepted new action goal ×2 + 2.03sINFOros2_control_node[2026-06-03 14:00:15.842] [info] Got request to cancel active goal. ×2 + 2.03sINFOros2_control_node[2026-06-03 14:00:15.842] [info] Canceling active goal... ×2 + 2.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780495215.85918593 seconds ×3 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522731 ms (missed cycles : 3). + 2.11sWARNcontroller_managerOverrun might occur, Total time : 4861.236 us (Expected < 1666.667 us) --> Read time : 188.819 us, Update time : 4118.960 us, Write time : 553.457 us + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522731 ms (missed cycles : 3).[0m ×2 + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 4861.236 us (Expected < 1666.667 us) --> Read time : 188.819 us, Update time : 4118.960 us, Write time : 553.457 us[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780495216.42135596 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780495216.55151176 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.139453 ms (missed cycles : 7). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.139453 ms (missed cycles : 7).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780495217.14217043 seconds. ×3 + 3.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.66sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.66sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.70sWARNcontroller_managerOverrun might occur, Total time : 5260.996 us (Expected < 1666.667 us) --> Read time : 4366.122 us, Update time : 118.216 us, Write time : 776.658 us + 3.70sWARNros2_control_nodeOverrun might occur, Total time : 5260.996 us (Expected < 1666.667 us) --> Read time : 4366.122 us, Update time : 118.216 us, Write time : 776.658 us[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161715 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161715 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-06-03 14:00:18.336] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-06-03 14:00:18.336] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1926.763 us (Expected < 1666.667 us) --> Read time : 129.716 us, Update time : 766.977 us, Write time : 1030.070 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1926.763 us (Expected < 1666.667 us) --> Read time : 129.716 us, Update time : 766.977 us, Write time : 1030.070 us[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826247 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826247 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun might occur, Total time : 2043.238 us (Expected < 1666.667 us) --> Read time : 281.633 us, Update time : 90.824 us, Write time : 1670.781 us + 6.01sWARNros2_control_nodeOverrun might occur, Total time : 2043.238 us (Expected < 1666.667 us) --> Read time : 281.633 us, Update time : 90.824 us, Write time : 1670.781 us[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119126 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119126 ms (missed cycles : 2).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157817 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157817 ms (missed cycles : 2).[0m ×2 + 7.38sWARNcontroller_managerOverrun might occur, Total time : 5509.196 us (Expected < 1666.667 us) --> Read time : 342.806 us, Update time : 82.904 us, Write time : 5083.486 us + 7.39sWARNros2_control_nodeOverrun might occur, Total time : 5509.196 us (Expected < 1666.667 us) --> Read time : 342.806 us, Update time : 82.904 us, Write time : 5083.486 us[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660690 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660690 ms (missed cycles : 2).[0m ×2 + 8.61sWARNcontroller_managerOverrun might occur, Total time : 8293.053 us (Expected < 1666.667 us) --> Read time : 289.174 us, Update time : 7390.739 us, Write time : 613.140 us + 8.61sWARNros2_control_nodeOverrun might occur, Total time : 8293.053 us (Expected < 1666.667 us) --> Read time : 289.174 us, Update time : 7390.739 us, Write time : 613.140 us[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.177024 ms (missed cycles : 7). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.177024 ms (missed cycles : 7).[0m ×2 + 9.70sWARNcontroller_managerOverrun might occur, Total time : 2328.031 us (Expected < 1666.667 us) --> Read time : 801.098 us, Update time : 132.966 us, Write time : 1393.967 us + 9.70sWARNros2_control_nodeOverrun might occur, Total time : 2328.031 us (Expected < 1666.667 us) --> Read time : 801.098 us, Update time : 132.966 us, Write time : 1393.967 us[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514168 ms (missed cycles : 3). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514168 ms (missed cycles : 3).[0m ×2 + 11.05sWARNcontroller_managerOverrun might occur, Total time : 1841.469 us (Expected < 1666.667 us) --> Read time : 884.213 us, Update time : 56.042 us, Write time : 901.214 us + 11.05sWARNros2_control_nodeOverrun might occur, Total time : 1841.469 us (Expected < 1666.667 us) --> Read time : 884.213 us, Update time : 56.042 us, Write time : 901.214 us[0m ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.543497 ms (missed cycles : 9). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.543497 ms (missed cycles : 9).[0m ×2 + 12.13sWARNcontroller_managerOverrun might occur, Total time : 4801.724 us (Expected < 1666.667 us) --> Read time : 198.870 us, Update time : 4137.751 us, Write time : 465.103 us + 12.13sWARNros2_control_nodeOverrun might occur, Total time : 4801.724 us (Expected < 1666.667 us) --> Read time : 198.870 us, Update time : 4137.751 us, Write time : 465.103 us[0m ×2 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.835671 ms (missed cycles : 5). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.835671 ms (missed cycles : 5).[0m ×2 + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505073 ms (missed cycles : 3). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505073 ms (missed cycles : 3).[0m ×2 + 13.52sWARNcontroller_managerOverrun might occur, Total time : 2615.626 us (Expected < 1666.667 us) --> Read time : 319.045 us, Update time : 1246.511 us, Write time : 1050.070 us + 13.52sWARNros2_control_nodeOverrun might occur, Total time : 2615.626 us (Expected < 1666.667 us) --> Read time : 319.045 us, Update time : 1246.511 us, Write time : 1050.070 us[0m ×2 + 14.54sWARNcontroller_managerOverrun might occur, Total time : 1919.454 us (Expected < 1666.667 us) --> Read time : 191.210 us, Update time : 1332.535 us, Write time : 395.709 us + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161186 ms (missed cycles : 2). + 14.54sWARNros2_control_nodeOverrun might occur, Total time : 1919.454 us (Expected < 1666.667 us) --> Read time : 191.210 us, Update time : 1332.535 us, Write time : 395.709 us[0m ×2 + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161186 ms (missed cycles : 2).[0m ×2 + 15.54sWARNcontroller_managerOverrun might occur, Total time : 8018.730 us (Expected < 1666.667 us) --> Read time : 230.701 us, Update time : 55.953 us, Write time : 7732.076 us + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.272108 ms (missed cycles : 5). + 15.54sWARNros2_control_nodeOverrun might occur, Total time : 8018.730 us (Expected < 1666.667 us) --> Read time : 230.701 us, Update time : 55.953 us, Write time : 7732.076 us[0m ×2 + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.272108 ms (missed cycles : 5).[0m ×2 + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348746 ms (missed cycles : 3). + 16.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348746 ms (missed cycles : 3).[0m ×2 + 16.59sWARNcontroller_managerOverrun might occur, Total time : 2096.061 us (Expected < 1666.667 us) --> Read time : 156.017 us, Update time : 103.605 us, Write time : 1836.439 us + 16.59sWARNros2_control_nodeOverrun might occur, Total time : 2096.061 us (Expected < 1666.667 us) --> Read time : 156.017 us, Update time : 103.605 us, Write time : 1836.439 us[0m ×2 + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816843 ms (missed cycles : 2). + 17.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816843 ms (missed cycles : 2).[0m ×2 + 17.62sWARNcontroller_managerOverrun might occur, Total time : 4279.458 us (Expected < 1666.667 us) --> Read time : 283.544 us, Update time : 56.702 us, Write time : 3939.212 us + 17.62sWARNros2_control_nodeOverrun might occur, Total time : 4279.458 us (Expected < 1666.667 us) --> Read time : 283.544 us, Update time : 56.702 us, Write time : 3939.212 us[0m ×2 + 18.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373142 ms (missed cycles : 3). + 18.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373142 ms (missed cycles : 3).[0m ×2 + 18.87sWARNcontroller_managerOverrun might occur, Total time : 3262.919 us (Expected < 1666.667 us) --> Read time : 821.120 us, Update time : 563.818 us, Write time : 1877.981 us + 18.87sWARNros2_control_nodeOverrun might occur, Total time : 3262.919 us (Expected < 1666.667 us) --> Read time : 821.120 us, Update time : 563.818 us, Write time : 1877.981 us[0m ×2 + 19.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002411 ms (missed cycles : 3). + 19.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002411 ms (missed cycles : 3).[0m ×2 + 20.10sWARNcontroller_managerOverrun might occur, Total time : 2284.381 us (Expected < 1666.667 us) --> Read time : 210.500 us, Update time : 1620.869 us, Write time : 453.012 us + 20.10sWARNros2_control_nodeOverrun might occur, Total time : 2284.381 us (Expected < 1666.667 us) --> Read time : 210.500 us, Update time : 1620.869 us, Write time : 453.012 us[0m ×2 + 20.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.964010 ms (missed cycles : 5). + 20.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.964010 ms (missed cycles : 5).[0m ×2 + 21.27sWARNcontroller_managerOverrun might occur, Total time : 2064.260 us (Expected < 1666.667 us) --> Read time : 174.899 us, Update time : 899.193 us, Write time : 990.168 us + 21.27sWARNros2_control_nodeOverrun might occur, Total time : 2064.260 us (Expected < 1666.667 us) --> Read time : 174.899 us, Update time : 899.193 us, Write time : 990.168 us[0m ×2 + 21.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.116605 ms (missed cycles : 7). + 21.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.116605 ms (missed cycles : 7).[0m ×2 + 22.42sWARNcontroller_managerOverrun might occur, Total time : 1681.392 us (Expected < 1666.667 us) --> Read time : 776.388 us, Update time : 71.043 us, Write time : 833.961 us + 22.43sWARNros2_control_nodeOverrun might occur, Total time : 1681.392 us (Expected < 1666.667 us) --> Read time : 776.388 us, Update time : 71.043 us, Write time : 833.961 us[0m ×2 + 22.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443503 ms (missed cycles : 2). + 22.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443503 ms (missed cycles : 2).[0m ×2 + 23.78sWARNcontroller_managerOverrun might occur, Total time : 1961.195 us (Expected < 1666.667 us) --> Read time : 228.601 us, Update time : 1349.105 us, Write time : 383.489 us + 23.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256432 ms (missed cycles : 2). + 23.78sWARNros2_control_nodeOverrun might occur, Total time : 1961.195 us (Expected < 1666.667 us) --> Read time : 228.601 us, Update time : 1349.105 us, Write time : 383.489 us[0m ×2 + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256432 ms (missed cycles : 2).[0m ×2 + 24.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178191 ms (missed cycles : 3). + 24.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178191 ms (missed cycles : 3).[0m ×2 + 24.89sWARNcontroller_managerOverrun might occur, Total time : 1719.493 us (Expected < 1666.667 us) --> Read time : 129.866 us, Update time : 32.322 us, Write time : 1557.305 us + 24.89sWARNros2_control_nodeOverrun might occur, Total time : 1719.493 us (Expected < 1666.667 us) --> Read time : 129.866 us, Update time : 32.322 us, Write time : 1557.305 us[0m ×2 + 25.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.382165 ms (missed cycles : 7). + 25.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.382165 ms (missed cycles : 7).[0m ×2 + 26.22sWARNcontroller_managerOverrun might occur, Total time : 6371.099 us (Expected < 1666.667 us) --> Read time : 236.561 us, Update time : 73.894 us, Write time : 6060.644 us + 26.22sWARNros2_control_nodeOverrun might occur, Total time : 6371.099 us (Expected < 1666.667 us) --> Read time : 236.561 us, Update time : 73.894 us, Write time : 6060.644 us[0m ×2 + 26.31sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 26.31sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 26.32sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 26.37sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 26.37sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m ×2 + 26.61sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 26.62sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 26.62sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 26.63sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 26.64sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 26.65sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 26.69sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 26.75sINFOros2_control_node[2026-06-03 14:00:40.563] [info] Received new action goal ×2 + 26.75sINFOros2_control_node[2026-06-03 14:00:40.563] [info] Accepted new action goal ×2 + 26.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778374 ms (missed cycles : 2). + 26.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778374 ms (missed cycles : 2).[0m ×2 + 27.30sWARNcontroller_managerOverrun might occur, Total time : 1700.743 us (Expected < 1666.667 us) --> Read time : 120.266 us, Update time : 617.380 us, Write time : 963.097 us + 27.30sWARNros2_control_nodeOverrun might occur, Total time : 1700.743 us (Expected < 1666.667 us) --> Read time : 120.266 us, Update time : 617.380 us, Write time : 963.097 us[0m ×2 + 27.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522550 ms (missed cycles : 3). + 27.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522550 ms (missed cycles : 3).[0m ×2 + 28.49sWARNcontroller_managerOverrun might occur, Total time : 3121.290 us (Expected < 1666.667 us) --> Read time : 177.628 us, Update time : 2410.727 us, Write time : 532.935 us + 28.49sWARNros2_control_nodeOverrun might occur, Total time : 3121.290 us (Expected < 1666.667 us) --> Read time : 177.628 us, Update time : 2410.727 us, Write time : 532.935 us[0m ×2 + 28.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904882 ms (missed cycles : 2). + 28.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904882 ms (missed cycles : 2).[0m ×2 + 29.27sINFOros2_control_node[2026-06-03 14:00:43.086] [info] Received new action goal ×2 + 29.27sINFOros2_control_node[2026-06-03 14:00:43.086] [info] Accepted new action goal ×2 + 29.64sWARNcontroller_managerOverrun might occur, Total time : 2903.361 us (Expected < 1666.667 us) --> Read time : 309.185 us, Update time : 2093.772 us, Write time : 500.404 us + 29.64sWARNros2_control_nodeOverrun might occur, Total time : 2903.361 us (Expected < 1666.667 us) --> Read time : 309.185 us, Update time : 2093.772 us, Write time : 500.404 us[0m ×2 + 29.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540114 ms (missed cycles : 6). + 29.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540114 ms (missed cycles : 6).[0m ×2 + 30.92sWARNcontroller_managerOverrun might occur, Total time : 1689.162 us (Expected < 1666.667 us) --> Read time : 241.432 us, Update time : 56.833 us, Write time : 1390.897 us + 30.93sWARNros2_control_nodeOverrun might occur, Total time : 1689.162 us (Expected < 1666.667 us) --> Read time : 241.432 us, Update time : 56.833 us, Write time : 1390.897 us[0m ×2 + 31.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213231 ms (missed cycles : 4). + 31.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213231 ms (missed cycles : 4).[0m ×2 + 31.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 31.08sINFOros2_control_node[2026-06-03 14:00:44.898] [info] Received new action goal ×2 + 31.08sINFOros2_control_node[2026-06-03 14:00:44.898] [info] Accepted new action goal ×2 + 32.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756048 ms (missed cycles : 2). + 32.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756048 ms (missed cycles : 2).[0m ×2 + 32.06sWARNcontroller_managerOverrun might occur, Total time : 5229.573 us (Expected < 1666.667 us) --> Read time : 289.504 us, Update time : 103.785 us, Write time : 4836.284 us + 32.06sWARNros2_control_nodeOverrun might occur, Total time : 5229.573 us (Expected < 1666.667 us) --> Read time : 289.504 us, Update time : 103.785 us, Write time : 4836.284 us[0m ×2 + 32.47sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780495246.28476191 seconds ×3 + 33.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850385 ms (missed cycles : 2). + 33.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850385 ms (missed cycles : 2).[0m ×2 + 33.06sWARNcontroller_managerOverrun might occur, Total time : 2692.821 us (Expected < 1666.667 us) --> Read time : 1774.976 us, Update time : 62.933 us, Write time : 854.912 us + 33.06sWARNros2_control_nodeOverrun might occur, Total time : 2692.821 us (Expected < 1666.667 us) --> Read time : 1774.976 us, Update time : 62.933 us, Write time : 854.912 us[0m ×2 + 33.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780495246.88600111 seconds. ×3 + 33.15sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780495246.96614718 seconds ×3 + 33.48sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 33.48sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 33.73sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780495247.54095817 seconds. ×3 + 33.83sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 33.83sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 33.84sINFOros2_control_node[2026-06-03 14:00:47.655] [info] Received new action goal ×2 + 33.84sINFOros2_control_node[2026-06-03 14:00:47.655] [info] Accepted new action goal ×2 + 33.99sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 33.99sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 34.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314057 ms (missed cycles : 3). + 34.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314057 ms (missed cycles : 3).[0m ×2 + 34.17sWARNcontroller_managerOverrun might occur, Total time : 3116.741 us (Expected < 1666.667 us) --> Read time : 192.009 us, Update time : 2347.884 us, Write time : 576.848 us + 34.17sWARNros2_control_nodeOverrun might occur, Total time : 3116.741 us (Expected < 1666.667 us) --> Read time : 192.009 us, Update time : 2347.884 us, Write time : 576.848 us[0m ×2 + 35.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819161 ms (missed cycles : 2). + 35.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819161 ms (missed cycles : 2).[0m ×2 + 35.18sWARNcontroller_managerOverrun might occur, Total time : 4942.549 us (Expected < 1666.667 us) --> Read time : 158.747 us, Update time : 4140.451 us, Write time : 643.351 us + 35.18sWARNros2_control_nodeOverrun might occur, Total time : 4942.549 us (Expected < 1666.667 us) --> Read time : 158.747 us, Update time : 4140.451 us, Write time : 643.351 us[0m ×2 + 36.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721537 ms (missed cycles : 6). + 36.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721537 ms (missed cycles : 6).[0m ×2 + 36.43sWARNcontroller_managerOverrun might occur, Total time : 2091.452 us (Expected < 1666.667 us) --> Read time : 275.103 us, Update time : 196.030 us, Write time : 1620.319 us + 36.43sWARNros2_control_nodeOverrun might occur, Total time : 2091.452 us (Expected < 1666.667 us) --> Read time : 275.103 us, Update time : 196.030 us, Write time : 1620.319 us[0m ×2
✓ passed	Load and Execute Joint Trajectory	load_and_execute_joint_trajectory.xml	11.8s	3 errors · 111 warnings · 126 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237340 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237340 ms (missed cycles : 4).[0m ×2 + 0.16sWARNcontroller_managerOverrun might occur, Total time : 10064.989 us (Expected < 1666.667 us) --> Read time : 305.224 us, Update time : 9063.111 us, Write time : 696.654 us + 0.16sWARNros2_control_nodeOverrun might occur, Total time : 10064.989 us (Expected < 1666.667 us) --> Read time : 305.224 us, Update time : 9063.111 us, Write time : 696.654 us[0m ×2 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.84sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.87sINFOobjective_server_nodeFound path in 1 iterations (0.00251118 s). ×2 + 0.96sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] ×2 + 0.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301980 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301980 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_node[2026-06-03 14:01:17.727] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-06-03 14:01:17.727] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun might occur, Total time : 6080.255 us (Expected < 1666.667 us) --> Read time : 195.119 us, Update time : 213.470 us, Write time : 5671.666 us + 1.21sWARNros2_control_nodeOverrun might occur, Total time : 6080.255 us (Expected < 1666.667 us) --> Read time : 195.119 us, Update time : 213.470 us, Write time : 5671.666 us[0m ×2 + 1.44sINFOros2_control_node[2026-06-03 14:01:18.159] [info] Received new action goal ×2 + 1.44sINFOros2_control_node[2026-06-03 14:01:18.159] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886016 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886016 ms (missed cycles : 5).[0m ×2 + 2.63sWARNcontroller_managerOverrun might occur, Total time : 9836.947 us (Expected < 1666.667 us) --> Read time : 171.748 us, Update time : 9099.941 us, Write time : 565.258 us + 2.63sWARNros2_control_nodeOverrun might occur, Total time : 9836.947 us (Expected < 1666.667 us) --> Read time : 171.748 us, Update time : 9099.941 us, Write time : 565.258 us[0m ×2 + 2.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.867225 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.867225 ms (missed cycles : 5).[0m ×2 + 3.12sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.12sINFOrobotiq_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 + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780495279.85084271 seconds ×3 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.15sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 3.78sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780495280.49619651 seconds. ×3 + 3.81sWARNcontroller_managerOverrun might occur, Total time : 1818.029 us (Expected < 1666.667 us) --> Read time : 1308.314 us, Update time : 76.414 us, Write time : 433.301 us + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 1818.029 us (Expected < 1666.667 us) --> Read time : 1308.314 us, Update time : 76.414 us, Write time : 433.301 us[0m ×2 + 3.92sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.92sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.92sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.92sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×4 + 3.97sINFOros2_control_node[2026-06-03 14:01:20.680] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-06-03 14:01:20.680] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949466 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949466 ms (missed cycles : 3).[0m ×2 + 4.99sWARNcontroller_managerOverrun might occur, Total time : 6744.888 us (Expected < 1666.667 us) --> Read time : 319.265 us, Update time : 5709.578 us, Write time : 716.045 us + 4.99sWARNros2_control_nodeOverrun might occur, Total time : 6744.888 us (Expected < 1666.667 us) --> Read time : 319.265 us, Update time : 5709.578 us, Write time : 716.045 us[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319182 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319182 ms (missed cycles : 3).[0m ×2 + 6.06sWARNcontroller_managerOverrun might occur, Total time : 1827.489 us (Expected < 1666.667 us) --> Read time : 391.609 us, Update time : 101.145 us, Write time : 1334.735 us + 6.06sWARNros2_control_nodeOverrun might occur, Total time : 1827.489 us (Expected < 1666.667 us) --> Read time : 391.609 us, Update time : 101.145 us, Write time : 1334.735 us[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012525 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012525 ms (missed cycles : 3).[0m ×2 + 6.43sINFOros2_control_node[2026-06-03 14:01:23.141] [info] Received new action goal ×2 + 6.43sINFOros2_control_node[2026-06-03 14:01:23.141] [info] Accepted new action goal ×2 + 7.06sWARNcontroller_managerOverrun might occur, Total time : 3335.432 us (Expected < 1666.667 us) --> Read time : 216.241 us, Update time : 2353.694 us, Write time : 765.497 us + 7.06sWARNros2_control_nodeOverrun might occur, Total time : 3335.432 us (Expected < 1666.667 us) --> Read time : 216.241 us, Update time : 2353.694 us, Write time : 765.497 us[0m ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607545 ms (missed cycles : 3). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607545 ms (missed cycles : 3).[0m ×2 + 8.07sWARNcontroller_managerOverrun might occur, Total time : 2018.938 us (Expected < 1666.667 us) --> Read time : 176.548 us, Update time : 1453.331 us, Write time : 389.059 us + 8.08sWARNros2_control_nodeOverrun might occur, Total time : 2018.938 us (Expected < 1666.667 us) --> Read time : 176.548 us, Update time : 1453.331 us, Write time : 389.059 us[0m ×2 + 8.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047318 ms (missed cycles : 8). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047318 ms (missed cycles : 8).[0m ×2 + 9.10sWARNcontroller_managerOverrun might occur, Total time : 1842.189 us (Expected < 1666.667 us) --> Read time : 682.663 us, Update time : 80.674 us, Write time : 1078.852 us + 9.10sWARNros2_control_nodeOverrun might occur, Total time : 1842.189 us (Expected < 1666.667 us) --> Read time : 682.663 us, Update time : 80.674 us, Write time : 1078.852 us[0m ×2 + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051542 ms (missed cycles : 3). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051542 ms (missed cycles : 3).[0m ×2 + 10.17sWARNcontroller_managerOverrun might occur, Total time : 2260.049 us (Expected < 1666.667 us) --> Read time : 246.012 us, Update time : 57.782 us, Write time : 1956.255 us + 10.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699714 ms (missed cycles : 2). + 10.17sWARNros2_control_nodeOverrun might occur, Total time : 2260.049 us (Expected < 1666.667 us) --> Read time : 246.012 us, Update time : 57.782 us, Write time : 1956.255 us[0m ×2 + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699714 ms (missed cycles : 2).[0m ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741682 ms (missed cycles : 3). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741682 ms (missed cycles : 3).[0m ×2 + 11.36sWARNcontroller_managerOverrun might occur, Total time : 2576.904 us (Expected < 1666.667 us) --> Read time : 182.918 us, Update time : 38.092 us, Write time : 2355.894 us + 11.36sWARNros2_control_nodeOverrun might occur, Total time : 2576.904 us (Expected < 1666.667 us) --> Read time : 182.918 us, Update time : 38.092 us, Write time : 2355.894 us[0m ×2 + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391377 ms (missed cycles : 2). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391377 ms (missed cycles : 2).[0m ×2 + 12.83sWARNcontroller_managerOverrun might occur, Total time : 3958.292 us (Expected < 1666.667 us) --> Read time : 278.193 us, Update time : 3156.174 us, Write time : 523.925 us + 12.83sWARNros2_control_nodeOverrun might occur, Total time : 3958.292 us (Expected < 1666.667 us) --> Read time : 278.193 us, Update time : 3156.174 us, Write time : 523.925 us[0m ×2 + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.940067 ms (missed cycles : 4). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.940067 ms (missed cycles : 4).[0m ×2 + 14.06sWARNcontroller_managerOverrun might occur, Total time : 2020.639 us (Expected < 1666.667 us) --> Read time : 269.954 us, Update time : 738.185 us, Write time : 1012.500 us + 14.06sWARNros2_control_nodeOverrun might occur, Total time : 2020.639 us (Expected < 1666.667 us) --> Read time : 269.954 us, Update time : 738.185 us, Write time : 1012.500 us[0m ×2 + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249870 ms (missed cycles : 2). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249870 ms (missed cycles : 2).[0m ×2 + 14.99sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780495291.70264292 seconds ×3 + 15.19sWARNcontroller_managerOverrun might occur, Total time : 1980.226 us (Expected < 1666.667 us) --> Read time : 243.401 us, Update time : 1229.170 us, Write time : 507.655 us + 15.19sWARNros2_control_nodeOverrun might occur, Total time : 1980.226 us (Expected < 1666.667 us) --> Read time : 243.401 us, Update time : 1229.170 us, Write time : 507.655 us[0m ×2 + 15.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868187 ms (missed cycles : 5). + 15.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868187 ms (missed cycles : 5).[0m ×2 + 15.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780495292.26031184 seconds. ×3 + 15.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 15.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 15.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.60sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.61sWARNcontroller_managerOverrun might occur, Total time : 4070.457 us (Expected < 1666.667 us) --> Read time : 265.023 us, Update time : 3179.794 us (Switch time : 3129.761 us (Switch chained mode time : 0.430 us, perform mode change time : 5.480 us, Activation time : 3112.461 us, Deactivation time : 0.440 us)), Write time : 625.640 us + 15.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.61sWARNros2_control_nodeOverrun might occur, Total time : 4070.457 us (Expected < 1666.667 us) --> Read time : 265.023 us, Update time : 3179.794 us (Switch time : 3129.761 us (Switch chained mode time : 0.430 us, perform mode change time : 5.480 us, Activation time : 3112.461 us, Deactivation time : 0.440 us)), Write time : 625.640 us[0m ×2 + 15.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780495292.33044457 seconds ×3 + 16.27sWARNcontroller_managerOverrun might occur, Total time : 3257.907 us (Expected < 1666.667 us) --> Read time : 280.263 us, Update time : 2376.365 us, Write time : 601.279 us + 16.27sWARNros2_control_nodeOverrun might occur, Total time : 3257.907 us (Expected < 1666.667 us) --> Read time : 280.263 us, Update time : 2376.365 us, Write time : 601.279 us[0m ×2 + 16.27sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780495292.99093080 seconds. ×3 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791734 ms (missed cycles : 5). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791734 ms (missed cycles : 5).[0m ×2 + 16.39sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.41sINFOros2_control_node[2026-06-03 14:01:33.125] [info] Received new action goal ×2 + 16.41sINFOros2_control_node[2026-06-03 14:01:33.125] [info] Accepted new action goal ×2 + 17.32sWARNcontroller_managerOverrun might occur, Total time : 3919.020 us (Expected < 1666.667 us) --> Read time : 177.689 us, Update time : 3163.223 us, Write time : 578.108 us + 17.32sWARNros2_control_nodeOverrun might occur, Total time : 3919.020 us (Expected < 1666.667 us) --> Read time : 177.689 us, Update time : 3163.223 us, Write time : 578.108 us[0m ×2 + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496294 ms (missed cycles : 3). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496294 ms (missed cycles : 3).[0m ×2 + 18.32sWARNcontroller_managerOverrun might occur, Total time : 9537.364 us (Expected < 1666.667 us) --> Read time : 203.230 us, Update time : 79.764 us, Write time : 9254.370 us + 18.32sWARNros2_control_nodeOverrun might occur, Total time : 9537.364 us (Expected < 1666.667 us) --> Read time : 203.230 us, Update time : 79.764 us, Write time : 9254.370 us[0m ×2 + 18.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053019 ms (missed cycles : 2). + 18.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053019 ms (missed cycles : 2).[0m ×2 + 18.42sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780495295.13109899 seconds ×3
✓ passed	Push Button	move_with_velocity_and_force.xml	11.7s	105 warnings · 146 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.969629 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.969629 ms (missed cycles : 5).[0m ×2 + 0.01sWARNcontroller_managerOverrun might occur, Total time : 1713.873 us (Expected < 1666.667 us) --> Read time : 698.084 us, Update time : 100.305 us, Write time : 915.484 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 1713.873 us (Expected < 1666.667 us) --> Read time : 698.084 us, Update time : 100.305 us, Write time : 915.484 us[0m ×2 + 0.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.26sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.26sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.27sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.27sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360550 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360550 ms (missed cycles : 5).[0m ×2 + 1.21sWARNcontroller_managerOverrun might occur, Total time : 2136.404 us (Expected < 1666.667 us) --> Read time : 212.180 us, Update time : 1451.151 us, Write time : 473.073 us + 1.21sWARNros2_control_nodeOverrun might occur, Total time : 2136.404 us (Expected < 1666.667 us) --> Read time : 212.180 us, Update time : 1451.151 us, Write time : 473.073 us[0m ×2 + 1.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.34sINFOros2_control_node[2026-06-03 14:02:27.850] [info] Received new action goal ×2 + 1.35sINFOros2_control_node[2026-06-03 14:02:27.850] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581262 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581262 ms (missed cycles : 3).[0m ×2 + 2.40sWARNcontroller_managerOverrun might occur, Total time : 8196.097 us (Expected < 1666.667 us) --> Read time : 203.160 us, Update time : 7478.692 us, Write time : 514.245 us + 2.40sWARNros2_control_nodeOverrun might occur, Total time : 8196.097 us (Expected < 1666.667 us) --> Read time : 203.160 us, Update time : 7478.692 us, Write time : 514.245 us[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780495349.00599480 seconds ×3 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917987 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917987 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780495349.71640396 seconds. ×3 + 3.44sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.44sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 5463.366 us (Expected < 1666.667 us) --> Read time : 160.968 us, Update time : 4838.985 us, Write time : 463.413 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 5463.366 us (Expected < 1666.667 us) --> Read time : 160.968 us, Update time : 4838.985 us, Write time : 463.413 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241020 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241020 ms (missed cycles : 5).[0m ×2 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.50sINFOros2_control_node[2026-06-03 14:02:31.001] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-06-03 14:02:31.001] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun might occur, Total time : 1691.872 us (Expected < 1666.667 us) --> Read time : 203.160 us, Update time : 1080.252 us, Write time : 408.460 us + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 1691.872 us (Expected < 1666.667 us) --> Read time : 203.160 us, Update time : 1080.252 us, Write time : 408.460 us[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.345456 ms (missed cycles : 7). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.345456 ms (missed cycles : 7).[0m ×2 + 5.91sWARNcontroller_managerOverrun might occur, Total time : 2945.363 us (Expected < 1666.667 us) --> Read time : 234.082 us, Update time : 95.784 us, Write time : 2615.497 us + 5.91sWARNros2_control_nodeOverrun might occur, Total time : 2945.363 us (Expected < 1666.667 us) --> Read time : 234.082 us, Update time : 95.784 us, Write time : 2615.497 us[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767103 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767103 ms (missed cycles : 3).[0m ×2 + 7.00sWARNcontroller_managerOverrun might occur, Total time : 5058.905 us (Expected < 1666.667 us) --> Read time : 275.904 us, Update time : 4173.982 us, Write time : 609.019 us + 7.00sWARNros2_control_nodeOverrun might occur, Total time : 5058.905 us (Expected < 1666.667 us) --> Read time : 275.904 us, Update time : 4173.982 us, Write time : 609.019 us[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.012906 ms (missed cycles : 8). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.012906 ms (missed cycles : 8).[0m ×2 + 8.09sWARNcontroller_managerOverrun might occur, Total time : 2891.810 us (Expected < 1666.667 us) --> Read time : 180.509 us, Update time : 1990.686 us, Write time : 720.615 us + 8.09sWARNros2_control_nodeOverrun might occur, Total time : 2891.810 us (Expected < 1666.667 us) --> Read time : 180.509 us, Update time : 1990.686 us, Write time : 720.615 us[0m ×2 + 8.19sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.19sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.19sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.20sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.20sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408812 ms (missed cycles : 4). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408812 ms (missed cycles : 4).[0m ×2 + 9.17sWARNcontroller_managerOverrun might occur, Total time : 2212.138 us (Expected < 1666.667 us) --> Read time : 214.431 us, Update time : 1535.675 us, Write time : 462.032 us + 9.17sWARNros2_control_nodeOverrun might occur, Total time : 2212.138 us (Expected < 1666.667 us) --> Read time : 214.431 us, Update time : 1535.675 us, Write time : 462.032 us[0m ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.949792 ms (missed cycles : 5). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.949792 ms (missed cycles : 5).[0m ×2 + 10.27sWARNcontroller_managerOverrun might occur, Total time : 1875.131 us (Expected < 1666.667 us) --> Read time : 165.558 us, Update time : 1339.415 us, Write time : 370.158 us + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718282 ms (missed cycles : 2). + 10.27sWARNros2_control_nodeOverrun might occur, Total time : 1875.131 us (Expected < 1666.667 us) --> Read time : 165.558 us, Update time : 1339.415 us, Write time : 370.158 us[0m ×2 + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718282 ms (missed cycles : 2).[0m ×2 + 10.58sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 10.59sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.60sINFOros2_control_node[2026-06-03 14:02:37.101] [info] Received new action goal ×2 + 10.60sINFOros2_control_node[2026-06-03 14:02:37.101] [info] Accepted new action goal ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.155358 ms (missed cycles : 6). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.155358 ms (missed cycles : 6).[0m ×2 + 11.32sWARNcontroller_managerOverrun might occur, Total time : 1754.665 us (Expected < 1666.667 us) --> Read time : 236.661 us, Update time : 480.994 us, Write time : 1037.010 us + 11.32sWARNros2_control_nodeOverrun might occur, Total time : 1754.665 us (Expected < 1666.667 us) --> Read time : 236.661 us, Update time : 480.994 us, Write time : 1037.010 us[0m ×2 + 12.32sWARNcontroller_managerOverrun might occur, Total time : 2507.302 us (Expected < 1666.667 us) --> Read time : 197.200 us, Update time : 71.974 us, Write time : 2238.128 us + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984477 ms (missed cycles : 2). + 12.32sWARNros2_control_nodeOverrun might occur, Total time : 2507.302 us (Expected < 1666.667 us) --> Read time : 197.200 us, Update time : 71.974 us, Write time : 2238.128 us[0m ×2 + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984477 ms (missed cycles : 2).[0m ×2 + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861568 ms (missed cycles : 2). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861568 ms (missed cycles : 2).[0m ×2 + 13.36sWARNcontroller_managerOverrun might occur, Total time : 2954.673 us (Expected < 1666.667 us) --> Read time : 206.590 us, Update time : 71.413 us, Write time : 2676.670 us + 13.36sWARNros2_control_nodeOverrun might occur, Total time : 2954.673 us (Expected < 1666.667 us) --> Read time : 206.590 us, Update time : 71.413 us, Write time : 2676.670 us[0m ×2 + 14.20sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780495360.70656610 seconds ×3 + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731510 ms (missed cycles : 2). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731510 ms (missed cycles : 2).[0m ×2 + 14.52sWARNcontroller_managerOverrun might occur, Total time : 2045.470 us (Expected < 1666.667 us) --> Read time : 322.386 us, Update time : 62.473 us, Write time : 1660.611 us + 14.52sWARNros2_control_nodeOverrun might occur, Total time : 2045.470 us (Expected < 1666.667 us) --> Read time : 322.386 us, Update time : 62.473 us, Write time : 1660.611 us[0m ×2 + 14.76sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780495361.27007246 seconds. ×3 + 14.94sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 14.94sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 14.95sINFOros2_control_node[2026-06-03 14:02:41.455] [info] Received new action goal ×2 + 14.95sINFOros2_control_node[2026-06-03 14:02:41.455] [info] Accepted new action goal ×2 + 15.05sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 15.05sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m ×2 + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230901 ms (missed cycles : 4). + 15.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230901 ms (missed cycles : 4).[0m ×2 + 15.58sWARNcontroller_managerOverrun might occur, Total time : 3283.090 us (Expected < 1666.667 us) --> Read time : 179.539 us, Update time : 2530.373 us, Write time : 573.178 us + 15.58sWARNros2_control_nodeOverrun might occur, Total time : 3283.090 us (Expected < 1666.667 us) --> Read time : 179.539 us, Update time : 2530.373 us, Write time : 573.178 us[0m ×2 + 16.23sINFOobjective_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 + 16.24sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333304 ms (missed cycles : 4). + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333304 ms (missed cycles : 4).[0m ×2 + 16.58sWARNcontroller_managerOverrun might occur, Total time : 1800.477 us (Expected < 1666.667 us) --> Read time : 184.399 us, Update time : 737.546 us, Write time : 878.532 us + 16.58sWARNros2_control_nodeOverrun might occur, Total time : 1800.477 us (Expected < 1666.667 us) --> Read time : 184.399 us, Update time : 737.546 us, Write time : 878.532 us[0m ×2 + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564864 ms (missed cycles : 3). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564864 ms (missed cycles : 3).[0m ×2 + 17.74sWARNcontroller_managerOverrun might occur, Total time : 2071.051 us (Expected < 1666.667 us) --> Read time : 322.076 us, Update time : 797.168 us, Write time : 951.807 us + 17.75sWARNros2_control_nodeOverrun might occur, Total time : 2071.051 us (Expected < 1666.667 us) --> Read time : 322.076 us, Update time : 797.168 us, Write time : 951.807 us[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.5s	59 errors · 63 warnings · 292 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722645 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722645 ms (missed cycles : 3).[0m ×2 + 0.71sINFOros2_control_node[2026-06-03 14:05:11.845] [info] Got request to cancel active goal. ×2 + 0.71sINFOros2_control_node[2026-06-03 14:05:11.845] [info] Canceling active goal... ×2 + 0.72sWARNcontroller_managerOverrun might occur, Total time : 2251.058 us (Expected < 1666.667 us) --> Read time : 208.230 us, Update time : 1549.725 us, Write time : 493.103 us + 0.72sWARNros2_control_nodeOverrun might occur, Total time : 2251.058 us (Expected < 1666.667 us) --> Read time : 208.230 us, Update time : 1549.725 us, Write time : 493.103 us[0m ×2 + 0.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780495511.86425567 seconds ×3 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.79sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.077377 ms (missed cycles : 8). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.077377 ms (missed cycles : 8).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780495512.47416663 seconds. ×3 + 1.63sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event" + 1.63sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event"[0m ×2 + 1.80sWARNcontroller_managerOverrun might occur, Total time : 3735.401 us (Expected < 1666.667 us) --> Read time : 254.882 us, Update time : 3017.847 us, Write time : 462.672 us + 1.80sWARNros2_control_nodeOverrun might occur, Total time : 3735.401 us (Expected < 1666.667 us) --> Read time : 254.882 us, Update time : 3017.847 us, Write time : 462.672 us[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780495513.06432581 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.332520 ms (missed cycles : 7). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.332520 ms (missed cycles : 7).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780495513.63112664 seconds. ×3 + 2.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.50sINFOobjective_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 + 2.50sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780495513.63310981 seconds ×3 + 2.64sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.64sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg" + 2.64sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.64sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg"[0m ×2 + 2.99sWARNcontroller_managerOverrun might occur, Total time : 8276.192 us (Expected < 1666.667 us) --> Read time : 224.051 us, Update time : 7299.865 us, Write time : 752.276 us + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 8276.192 us (Expected < 1666.667 us) --> Read time : 224.051 us, Update time : 7299.865 us, Write time : 752.276 us[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780495514.19157910 seconds. ×3 + 3.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780495514.19218850 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123279 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123279 ms (missed cycles : 2).[0m ×2 + 3.14sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String) + 3.14sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780495514.76237297 seconds. ×3 + 4.00sWARNcontroller_managerOverrun might occur, Total time : 1783.807 us (Expected < 1666.667 us) --> Read time : 220.891 us, Update time : 1131.605 us, Write time : 431.311 us + 4.00sWARNros2_control_nodeOverrun might occur, Total time : 1783.807 us (Expected < 1666.667 us) --> Read time : 220.891 us, Update time : 1131.605 us, Write time : 431.311 us[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143870 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143870 ms (missed cycles : 5).[0m ×2 + 4.15sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures" + 4.15sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures"[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780495515.49250078 seconds ×3 + 4.49sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.65sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.07sWARNcontroller_managerOverrun might occur, Total time : 1989.726 us (Expected < 1666.667 us) --> Read time : 1523.904 us, Update time : 62.413 us, Write time : 403.409 us + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895179 ms (missed cycles : 2). + 5.49sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 1989.726 us (Expected < 1666.667 us) --> Read time : 1523.904 us, Update time : 62.413 us, Write time : 403.409 us[0m ×2 + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895179 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun might occur, Total time : 2222.557 us (Expected < 1666.667 us) --> Read time : 989.348 us, Update time : 66.213 us, Write time : 1166.996 us + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057057 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun might occur, Total time : 2222.557 us (Expected < 1666.667 us) --> Read time : 989.348 us, Update time : 66.213 us, Write time : 1166.996 us[0m ×2 + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057057 ms (missed cycles : 2).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.713679 ms (missed cycles : 6). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.713679 ms (missed cycles : 6).[0m ×2 + 8.05sWARNcontroller_managerOverrun might occur, Total time : 3234.247 us (Expected < 1666.667 us) --> Read time : 198.810 us, Update time : 66.803 us, Write time : 2968.634 us + 8.05sWARNros2_control_nodeOverrun might occur, Total time : 3234.247 us (Expected < 1666.667 us) --> Read time : 198.810 us, Update time : 66.803 us, Write time : 2968.634 us[0m ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760610 ms (missed cycles : 2). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760610 ms (missed cycles : 2).[0m ×2 + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979077 ms (missed cycles : 5). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979077 ms (missed cycles : 5).[0m ×2 + 9.25sWARNcontroller_managerOverrun might occur, Total time : 1810.918 us (Expected < 1666.667 us) --> Read time : 748.707 us, Update time : 78.464 us, Write time : 983.747 us + 9.25sWARNros2_control_nodeOverrun might occur, Total time : 1810.918 us (Expected < 1666.667 us) --> Read time : 748.707 us, Update time : 78.464 us, Write time : 983.747 us[0m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.927265 ms (missed cycles : 8). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.927265 ms (missed cycles : 8).[0m ×2 + 10.46sWARNcontroller_managerOverrun might occur, Total time : 2689.461 us (Expected < 1666.667 us) --> Read time : 262.023 us, Update time : 59.593 us, Write time : 2367.845 us + 10.47sWARNros2_control_nodeOverrun might occur, Total time : 2689.461 us (Expected < 1666.667 us) --> Read time : 262.023 us, Update time : 59.593 us, Write time : 2367.845 us[0m ×2 + 10.49sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] ×2 + 10.52sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] ×2 + 10.54sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] ×2 + 10.55sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] ×2 + 10.56sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] ×2 + 10.57sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.57sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.58sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.59sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.61sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.62sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.63sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.64sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.66sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.66sINFOcontroller_managerShutdown request received.... + 10.66sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.66sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.66sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.66sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.66sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.66sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.66sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.66sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.66sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.66sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.66sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.66sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.66sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.66sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.66sINFOfoxglove_bridgeShutting down foxglove_bridge[0m ×2 + 10.66sINFOcontroller_managerShutting down the controller manager. + 10.66sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.66sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.66sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.66sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.66sINFOui_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 + 10.66sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.66sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.66sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.66sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.66sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.66sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.66sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.66sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.66sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.66sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.66sERRORmove_groupStack trace (most recent call last) in thread 25450: ×2 + 10.66sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.66sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7402468a63, in __clone ×2 + 10.66sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f74023dbaa3, in ×2 + 10.66sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f740266bdb3, in ×2 + 10.66sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.0", at 0x7f7402cc218a, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.66sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f74029e04d0, in rclcpp::Rate::sleep() ×2 + 10.66sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7402933a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.66sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f74028f8a71, in ×2 + 10.66sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f740263a390, in __cxa_throw ×2 + 10.66sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7402624a54, in std::terminate() ×2 + 10.66sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f740263a0d9, in ×2 + 10.66sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7402624ff4, in ×2 + 10.66sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f74023678fe, in abort ×2 + 10.66sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f740238427d, in raise ×2 + 10.66sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f74023ddb2c, in pthread_kill ×2 + 10.66sERRORmove_groupAborted (Signal sent by tkill() 25146 0) ×2 + 10.66sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.66sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.66sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.66sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.67sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.67sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.67sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.67sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.67sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.67sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.67sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.67sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.67sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.67sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.67sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.67sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.67sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.67sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.67sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.67sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.67sERRORmove_group-9process has died [pid 25146, 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_soxhyey4 --params-file /tmp/launch_params_x3n6ieaw --params-file /tmp/launch_params__s9ijunx --params-file /tmp/launch_params_s9xxuyrh --params-file /tmp/launch_params_vuiz9zyw --params-file /tmp/launch_params_9ufmunx5 --params-file /tmp/launch_params_x5mcdm79 --params-file /tmp/launch_params_ojn9ar6k --params-file /tmp/launch_params_0m7fdilm']. ×2 + 10.71sINFOfoxglove_bridgeShutdown complete[0m ×2 + 10.73sINFOobjective_server_node[0;m[2026-06-03 14:05:21.857] [moveit_pro_license] [info] ×2 + 10.73sINFOobjective_server_node************************************************* ×4 + 10.73sINFOobjective_server_node* MoveIt Pro License ×2 + 10.73sINFOobjective_server_node* Application has successfully terminated ×2 + 10.81sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.83sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.83sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5616fe2f36a4, in _start ×2 + 10.83sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcd4b6b728a, in __libc_start_main ×2 + 10.83sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcd4b6b71d0, in ×2 + 10.83sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcd4b6d4bbd, in exit ×2 + 10.83sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcd4b6d4a75, in ×2 + 10.83sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fcd4bba84a2, in spdlog::details::registry::~registry() ×2 + 10.83sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fcd4bbb369d, 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 + 10.83sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fcd4bbad965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.83sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5616fe2fa315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.83sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5616fe2f95a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.83sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5616fe2f5b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.83sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5616fe2f3d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.83sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcd4c22b454, in rclcpp::Node::~Node() ×2 + 10.83sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcd4c1e6515, in ×2 + 10.83sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcd4c229d20, in ×2 + 10.83sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcd4c229c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.83sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcd4c1e65d9, in ×2 + 10.83sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcd4c1eb161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.83sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fcd037e0a88]) ×2 + 10.88sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.88sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.88sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.56sINFOweb_video_server-20process has finished cleanly [pid 25269] ×2 + 11.58sINFOtf2_web_republisher_node-19process has finished cleanly [pid 25174] ×2 + 11.58sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system ×2 + 11.58sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.64sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 25150] ×2 + 11.64sINFOmove_joint_resampler_node-12process has finished cleanly [pid 25149] ×2 + 11.66sERRORui_teleop_bridge-17process has died [pid 25154, 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_i2yo5oy_']. ×2 + 11.68sINFOexecute_objective_bridge-16process has finished cleanly [pid 25153] ×2 + 11.69sINFOparameter_manager_node-10process has finished cleanly [pid 25147] ×2 + 11.70sINFOwaypoint_manager_node-11process has finished cleanly [pid 25148] ×2 + 11.87sERRORobjective_server_node_main-14process has died [pid 25151, 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_l9pcfq7a --params-file /tmp/launch_params_c66ci5_i --params-file /tmp/launch_params_c4ihu94u --params-file /tmp/launch_params_fmdxdkkx --params-file /tmp/launch_params_h4m6ct76 --params-file /tmp/launch_params_019vnw08']. ×2 + 11.88sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.75sINFOcomponent_container_mt-15process has finished cleanly [pid 25152] ×2 + 12.76sINFOfoxglove_bridge-18process has finished cleanly [pid 25155] ×2 + 12.76sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system ×2 + 13.50sINFOros2_control_node-1process has finished cleanly [pid 25120] ×2
✓ passed	Grasp Pose Using Yaml	grasp_pose_using_yaml.xml	11.1s	6 errors · 99 warnings · 144 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3616.406 us (Expected < 1666.667 us) --> Read time : 232.021 us, Update time : 54.363 us, Write time : 3330.022 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3616.406 us (Expected < 1666.667 us) --> Read time : 232.021 us, Update time : 54.363 us, Write time : 3330.022 us[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484226 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484226 ms (missed cycles : 3).[0m ×2 + 1.04sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/pcd_pointcloud_captures" + 1.04sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/pcd_pointcloud_captures"[0m ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 2709.481 us (Expected < 1666.667 us) --> Read time : 206.360 us, Update time : 1970.745 us, Write time : 532.376 us + 1.08sWARNros2_control_nodeOverrun might occur, Total time : 2709.481 us (Expected < 1666.667 us) --> Read time : 206.360 us, Update time : 1970.745 us, Write time : 532.376 us[0m ×2 + 1.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.22% of iterations over budget over 1:10.001 of wall time (264/21655). Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896213 ms (missed cycles : 3). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896213 ms (missed cycles : 3).[0m ×2 + 1.54sINFOfoxglove_bridgeRemoving channel 70 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 1.54sINFOfoxglove_bridgeRemoving channel 70 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 2.40sWARNcontroller_managerOverrun might occur, Total time : 1744.514 us (Expected < 1666.667 us) --> Read time : 214.010 us, Update time : 66.383 us, Write time : 1464.121 us + 2.41sWARNros2_control_nodeOverrun might occur, Total time : 1744.514 us (Expected < 1666.667 us) --> Read time : 214.010 us, Update time : 66.383 us, Write time : 1464.121 us[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784558 ms (missed cycles : 3). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784558 ms (missed cycles : 3).[0m ×2 + 2.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780495268.74027061 seconds ×3 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.37sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780495269.30935597 seconds. ×3 + 3.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.55sINFOfoxglove_bridgeRemoving channel 68 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.55sINFOfoxglove_bridgeRemoving channel 68 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.56sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.57sINFOros2_control_node[2026-06-03 14:01:09.503] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-06-03 14:01:09.503] [info] Accepted new action goal ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443094 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443094 ms (missed cycles : 4).[0m ×2 + 3.66sWARNcontroller_managerOverrun might occur, Total time : 3101.891 us (Expected < 1666.667 us) --> Read time : 219.861 us, Update time : 139.097 us, Write time : 2742.933 us + 3.66sWARNros2_control_nodeOverrun might occur, Total time : 3101.891 us (Expected < 1666.667 us) --> Read time : 219.861 us, Update time : 139.097 us, Write time : 2742.933 us[0m ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951600 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951600 ms (missed cycles : 2).[0m ×2 + 4.69sWARNcontroller_managerOverrun might occur, Total time : 7356.796 us (Expected < 1666.667 us) --> Read time : 6788.899 us, Update time : 97.664 us, Write time : 470.233 us + 4.69sWARNros2_control_nodeOverrun might occur, Total time : 7356.796 us (Expected < 1666.667 us) --> Read time : 6788.899 us, Update time : 97.664 us, Write time : 470.233 us[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489737 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489737 ms (missed cycles : 3).[0m ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 4893.778 us (Expected < 1666.667 us) --> Read time : 222.961 us, Update time : 4127.080 us, Write time : 543.737 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 4893.778 us (Expected < 1666.667 us) --> Read time : 222.961 us, Update time : 4127.080 us, Write time : 543.737 us[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680862 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680862 ms (missed cycles : 3).[0m ×2 + 6.77sWARNcontroller_managerOverrun might occur, Total time : 1842.059 us (Expected < 1666.667 us) --> Read time : 265.093 us, Update time : 1152.426 us, Write time : 424.540 us + 6.78sWARNros2_control_nodeOverrun might occur, Total time : 1842.059 us (Expected < 1666.667 us) --> Read time : 265.093 us, Update time : 1152.426 us, Write time : 424.540 us[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.063156 ms (missed cycles : 6). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.063156 ms (missed cycles : 6).[0m ×2 + 7.86sWARNcontroller_managerOverrun might occur, Total time : 5186.351 us (Expected < 1666.667 us) --> Read time : 174.508 us, Update time : 4545.820 us, Write time : 466.023 us + 7.86sWARNros2_control_nodeOverrun might occur, Total time : 5186.351 us (Expected < 1666.667 us) --> Read time : 174.508 us, Update time : 4545.820 us, Write time : 466.023 us[0m ×2 + 8.04sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.04sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.05sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.09sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/solution" + 8.09sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/solution"[0m ×2 + 8.33sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 8.33sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.34sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 8.34sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.36sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×4 + 8.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.40sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 8.42sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] ×2 + 8.44sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 8.47sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.50sINFOobjective_server_nodeFound path in 1 iterations (0.00283567 s). ×2 + 8.58sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.61sINFOobjective_server_nodeFound path in 1 iterations (0.00349024 s). ×2 + 8.69sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] ×2 + 8.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.542759 ms (missed cycles : 6). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.542759 ms (missed cycles : 6).[0m ×2 + 8.78sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.82sINFOros2_control_node[2026-06-03 14:01:14.753] [info] Received new action goal ×2 + 8.82sINFOros2_control_node[2026-06-03 14:01:14.753] [info] Accepted new action goal ×2 + 8.91sWARNcontroller_managerOverrun might occur, Total time : 4452.186 us (Expected < 1666.667 us) --> Read time : 302.805 us, Update time : 3511.480 us, Write time : 637.901 us + 8.91sWARNros2_control_nodeOverrun might occur, Total time : 4452.186 us (Expected < 1666.667 us) --> Read time : 302.805 us, Update time : 3511.480 us, Write time : 637.901 us[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246769 ms (missed cycles : 4). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246769 ms (missed cycles : 4).[0m ×2 + 9.94sWARNcontroller_managerOverrun might occur, Total time : 2061.670 us (Expected < 1666.667 us) --> Read time : 182.149 us, Update time : 1447.460 us, Write time : 432.061 us + 9.94sWARNros2_control_nodeOverrun might occur, Total time : 2061.670 us (Expected < 1666.667 us) --> Read time : 182.149 us, Update time : 1447.460 us, Write time : 432.061 us[0m ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237340 ms (missed cycles : 4). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237340 ms (missed cycles : 4).[0m ×2 + 10.94sWARNcontroller_managerOverrun might occur, Total time : 10064.989 us (Expected < 1666.667 us) --> Read time : 305.224 us, Update time : 9063.111 us, Write time : 696.654 us + 10.94sWARNros2_control_nodeOverrun might occur, Total time : 10064.989 us (Expected < 1666.667 us) --> Read time : 305.224 us, Update time : 9063.111 us, Write time : 696.654 us[0m ×2 + 11.57sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 11.57sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.57sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 11.58sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 11.62sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 11.65sINFOobjective_server_nodeFound path in 1 iterations (0.00251118 s). ×2 + 11.74sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301980 ms (missed cycles : 2). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301980 ms (missed cycles : 2).[0m ×2 + 11.79sINFOros2_control_node[2026-06-03 14:01:17.727] [info] Received new action goal ×2 + 11.79sINFOros2_control_node[2026-06-03 14:01:17.727] [info] Accepted new action goal ×2 + 11.99sWARNcontroller_managerOverrun might occur, Total time : 6080.255 us (Expected < 1666.667 us) --> Read time : 195.119 us, Update time : 213.470 us, Write time : 5671.666 us + 11.99sWARNros2_control_nodeOverrun might occur, Total time : 6080.255 us (Expected < 1666.667 us) --> Read time : 195.119 us, Update time : 213.470 us, Write time : 5671.666 us[0m ×2 + 12.23sINFOros2_control_node[2026-06-03 14:01:18.159] [info] Received new action goal ×2 + 12.23sINFOros2_control_node[2026-06-03 14:01:18.159] [info] Accepted new action goal ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886016 ms (missed cycles : 5). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886016 ms (missed cycles : 5).[0m ×2 + 13.41sWARNcontroller_managerOverrun might occur, Total time : 9836.947 us (Expected < 1666.667 us) --> Read time : 171.748 us, Update time : 9099.941 us, Write time : 565.258 us + 13.41sWARNros2_control_nodeOverrun might occur, Total time : 9836.947 us (Expected < 1666.667 us) --> Read time : 171.748 us, Update time : 9099.941 us, Write time : 565.258 us[0m ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.867225 ms (missed cycles : 5). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.867225 ms (missed cycles : 5).[0m ×2 + 13.90sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.90sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.90sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780495279.85084271 seconds ×3 + 14.56sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780495280.49619651 seconds. ×3 + 14.59sWARNcontroller_managerOverrun might occur, Total time : 1818.029 us (Expected < 1666.667 us) --> Read time : 1308.314 us, Update time : 76.414 us, Write time : 433.301 us + 14.60sWARNros2_control_nodeOverrun might occur, Total time : 1818.029 us (Expected < 1666.667 us) --> Read time : 1308.314 us, Update time : 76.414 us, Write time : 433.301 us[0m ×2 + 14.70sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.71sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.71sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.71sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 14.73sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 14.75sINFOros2_control_node[2026-06-03 14:01:20.680] [info] Received new action goal ×2 + 14.75sINFOros2_control_node[2026-06-03 14:01:20.680] [info] Accepted new action goal ×2 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949466 ms (missed cycles : 3). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949466 ms (missed cycles : 3).[0m ×2 + 15.77sWARNcontroller_managerOverrun might occur, Total time : 6744.888 us (Expected < 1666.667 us) --> Read time : 319.265 us, Update time : 5709.578 us, Write time : 716.045 us + 15.77sWARNros2_control_nodeOverrun might occur, Total time : 6744.888 us (Expected < 1666.667 us) --> Read time : 319.265 us, Update time : 5709.578 us, Write time : 716.045 us[0m ×2 + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319182 ms (missed cycles : 3). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319182 ms (missed cycles : 3).[0m ×2 + 16.84sWARNcontroller_managerOverrun might occur, Total time : 1827.489 us (Expected < 1666.667 us) --> Read time : 391.609 us, Update time : 101.145 us, Write time : 1334.735 us + 16.84sWARNros2_control_nodeOverrun might occur, Total time : 1827.489 us (Expected < 1666.667 us) --> Read time : 391.609 us, Update time : 101.145 us, Write time : 1334.735 us[0m ×2 + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012525 ms (missed cycles : 3). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012525 ms (missed cycles : 3).[0m ×2 + 17.21sINFOros2_control_node[2026-06-03 14:01:23.141] [info] Received new action goal ×2 + 17.21sINFOros2_control_node[2026-06-03 14:01:23.141] [info] Accepted new action goal ×2
✓ passed	Plan and Save Trajectory	plan_and_save_trajectory.xml	11.1s	6 errors · 96 warnings · 56 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1807.258 us (Expected < 1666.667 us) --> Read time : 161.008 us, Update time : 481.884 us, Write time : 1164.366 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1807.258 us (Expected < 1666.667 us) --> Read time : 161.008 us, Update time : 481.884 us, Write time : 1164.366 us[0m ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038573 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038573 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 6697.196 us (Expected < 1666.667 us) --> Read time : 241.491 us, Update time : 98.885 us, Write time : 6356.820 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 6697.196 us (Expected < 1666.667 us) --> Read time : 241.491 us, Update time : 98.885 us, Write time : 6356.820 us[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437162 ms (missed cycles : 4). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437162 ms (missed cycles : 4).[0m ×2 + 1.87sINFOros2_control_node[2026-06-03 14:04:26.090] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-06-03 14:04:26.090] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun might occur, Total time : 4069.688 us (Expected < 1666.667 us) --> Read time : 194.759 us, Update time : 34.132 us, Write time : 3840.797 us + 2.15sWARNros2_control_nodeOverrun might occur, Total time : 4069.688 us (Expected < 1666.667 us) --> Read time : 194.759 us, Update time : 34.132 us, Write time : 3840.797 us[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640565 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640565 ms (missed cycles : 6).[0m ×2 + 3.02sINFOros2_control_node[2026-06-03 14:04:27.241] [info] Got request to cancel active goal. ×2 + 3.02sINFOros2_control_node[2026-06-03 14:04:27.241] [info] Canceling active goal... ×2 + 3.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780495467.25103068 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.23sWARNcontroller_managerOverrun might occur, Total time : 4453.357 us (Expected < 1666.667 us) --> Read time : 229.571 us, Update time : 3672.069 us, Write time : 551.717 us + 3.24sWARNros2_control_nodeOverrun might occur, Total time : 4453.357 us (Expected < 1666.667 us) --> Read time : 229.571 us, Update time : 3672.069 us, Write time : 551.717 us[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584933 ms (missed cycles : 6). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584933 ms (missed cycles : 6).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780495467.84825420 seconds. ×3 + 3.64sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.64sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-06-03 14:04:28.013] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-06-03 14:04:28.014] [info] Accepted new action goal ×2 + 4.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.37sWARNcontroller_managerOverrun might occur, Total time : 3378.335 us (Expected < 1666.667 us) --> Read time : 201.810 us, Update time : 2568.435 us, Write time : 608.090 us + 4.37sWARNros2_control_nodeOverrun might occur, Total time : 3378.335 us (Expected < 1666.667 us) --> Read time : 201.810 us, Update time : 2568.435 us, Write time : 608.090 us[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649739 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649739 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun might occur, Total time : 1935.505 us (Expected < 1666.667 us) --> Read time : 170.739 us, Update time : 107.665 us, Write time : 1657.101 us + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 1935.505 us (Expected < 1666.667 us) --> Read time : 170.739 us, Update time : 107.665 us, Write time : 1657.101 us[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390544 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390544 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732358 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732358 ms (missed cycles : 2).[0m ×2 + 6.88sWARNcontroller_managerOverrun might occur, Total time : 5899.927 us (Expected < 1666.667 us) --> Read time : 135.676 us, Update time : 5084.938 us, Write time : 679.313 us + 6.88sWARNros2_control_nodeOverrun might occur, Total time : 5899.927 us (Expected < 1666.667 us) --> Read time : 135.676 us, Update time : 5084.938 us, Write time : 679.313 us[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.975837 ms (missed cycles : 8). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.975837 ms (missed cycles : 8).[0m ×2 + 8.57sWARNcontroller_managerOverrun might occur, Total time : 1824.380 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 85.184 us, Write time : 1518.625 us + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333202 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun might occur, Total time : 1824.380 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 85.184 us, Write time : 1518.625 us[0m ×2 + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333202 ms (missed cycles : 2).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282611 ms (missed cycles : 2). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282611 ms (missed cycles : 2).[0m ×2 + 9.75sWARNcontroller_managerOverrun might occur, Total time : 3305.831 us (Expected < 1666.667 us) --> Read time : 191.919 us, Update time : 2541.084 us, Write time : 572.828 us + 9.75sWARNros2_control_nodeOverrun might occur, Total time : 3305.831 us (Expected < 1666.667 us) --> Read time : 191.919 us, Update time : 2541.084 us, Write time : 572.828 us[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771053 ms (missed cycles : 2). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771053 ms (missed cycles : 2).[0m ×2 + 10.98sWARNcontroller_managerOverrun might occur, Total time : 6172.332 us (Expected < 1666.667 us) --> Read time : 237.362 us, Update time : 5369.342 us, Write time : 565.628 us + 10.98sWARNros2_control_nodeOverrun might occur, Total time : 6172.332 us (Expected < 1666.667 us) --> Read time : 237.362 us, Update time : 5369.342 us, Write time : 565.628 us[0m ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903635 ms (missed cycles : 2). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903635 ms (missed cycles : 2).[0m ×2 + 11.99sWARNcontroller_managerOverrun might occur, Total time : 5696.858 us (Expected < 1666.667 us) --> Read time : 257.203 us, Update time : 4595.564 us, Write time : 844.091 us + 11.99sWARNros2_control_nodeOverrun might occur, Total time : 5696.858 us (Expected < 1666.667 us) --> Read time : 257.203 us, Update time : 4595.564 us, Write time : 844.091 us[0m ×2 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221501 ms (missed cycles : 4). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221501 ms (missed cycles : 4).[0m ×2 + 13.59sWARNcontroller_managerOverrun might occur, Total time : 2553.044 us (Expected < 1666.667 us) --> Read time : 161.448 us, Update time : 1910.053 us, Write time : 481.543 us + 13.59sWARNros2_control_nodeOverrun might occur, Total time : 2553.044 us (Expected < 1666.667 us) --> Read time : 161.448 us, Update time : 1910.053 us, Write time : 481.543 us[0m ×2 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938618 ms (missed cycles : 3). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938618 ms (missed cycles : 3).[0m ×2 + 14.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780495478.33857799 seconds ×3 + 14.68sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780495478.89448905 seconds. ×3 + 14.69sWARNcontroller_managerOverrun might occur, Total time : 1699.913 us (Expected < 1666.667 us) --> Read time : 241.592 us, Update time : 64.763 us, Write time : 1393.558 us + 14.69sWARNros2_control_nodeOverrun might occur, Total time : 1699.913 us (Expected < 1666.667 us) --> Read time : 241.592 us, Update time : 64.763 us, Write time : 1393.558 us[0m ×2 + 14.74sINFOfoxglove_bridgeRemoving channel 82 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.74sINFOfoxglove_bridgeRemoving channel 82 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781646 ms (missed cycles : 3). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781646 ms (missed cycles : 3).[0m ×2 + 14.92sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 14.93sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 14.94sINFOros2_control_node[2026-06-03 14:04:39.157] [info] Received new action goal ×2 + 14.94sINFOros2_control_node[2026-06-03 14:04:39.157] [info] Accepted new action goal ×2 + 15.70sWARNcontroller_managerOverrun might occur, Total time : 6046.376 us (Expected < 1666.667 us) --> Read time : 272.893 us, Update time : 5203.885 us, Write time : 569.598 us + 15.71sWARNros2_control_nodeOverrun might occur, Total time : 6046.376 us (Expected < 1666.667 us) --> Read time : 272.893 us, Update time : 5203.885 us, Write time : 569.598 us[0m ×2 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.945992 ms (missed cycles : 5). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.945992 ms (missed cycles : 5).[0m ×2 + 16.73sWARNcontroller_managerOverrun might occur, Total time : 4971.883 us (Expected < 1666.667 us) --> Read time : 839.301 us, Update time : 77.004 us, Write time : 4055.578 us + 16.73sWARNros2_control_nodeOverrun might occur, Total time : 4971.883 us (Expected < 1666.667 us) --> Read time : 839.301 us, Update time : 77.004 us, Write time : 4055.578 us[0m ×2 + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597522 ms (missed cycles : 6). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597522 ms (missed cycles : 6).[0m ×2
✓ passed	Record and Replay Scanning Motion	record_and_replay_scanning_motion.xml	11.0s	3 errors · 96 warnings · 98 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015957 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015957 ms (missed cycles : 2).[0m ×2 + 0.19sWARNcontroller_managerOverrun might occur, Total time : 1891.141 us (Expected < 1666.667 us) --> Read time : 338.836 us, Update time : 1074.102 us, Write time : 478.203 us + 0.19sWARNros2_control_nodeOverrun might occur, Total time : 1891.141 us (Expected < 1666.667 us) --> Read time : 338.836 us, Update time : 1074.102 us, Write time : 478.203 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264531 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264531 ms (missed cycles : 5).[0m ×2 + 1.37sWARNcontroller_managerOverrun might occur, Total time : 2869.650 us (Expected < 1666.667 us) --> Read time : 182.139 us, Update time : 1926.964 us, Write time : 760.547 us + 1.37sWARNros2_control_nodeOverrun might occur, Total time : 2869.650 us (Expected < 1666.667 us) --> Read time : 182.139 us, Update time : 1926.964 us, Write time : 760.547 us[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.351852 ms (missed cycles : 7). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.351852 ms (missed cycles : 7).[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780495488.77053094 seconds ×3 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 3.01sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780495489.33355188 seconds. ×3 + 3.02sWARNcontroller_managerOverrun might occur, Total time : 1975.926 us (Expected < 1666.667 us) --> Read time : 312.285 us, Update time : 1135.665 us, Write time : 527.976 us + 3.02sWARNros2_control_nodeOverrun might occur, Total time : 1975.926 us (Expected < 1666.667 us) --> Read time : 312.285 us, Update time : 1135.665 us, Write time : 527.976 us[0m ×2 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.14sINFOros2_control_node[2026-06-03 14:04:49.468] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-06-03 14:04:49.468] [info] Accepted new action goal ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700930 ms (missed cycles : 6). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700930 ms (missed cycles : 6).[0m ×2 + 3.23sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution" + 3.23sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution"[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694407 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694407 ms (missed cycles : 2).[0m ×2 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 3860.477 us (Expected < 1666.667 us) --> Read time : 816.649 us, Update time : 79.344 us, Write time : 2964.484 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 3860.477 us (Expected < 1666.667 us) --> Read time : 816.649 us, Update time : 79.344 us, Write time : 2964.484 us[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049584 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049584 ms (missed cycles : 4).[0m ×2 + 5.30sWARNcontroller_managerOverrun might occur, Total time : 3049.547 us (Expected < 1666.667 us) --> Read time : 257.792 us, Update time : 2167.045 us, Write time : 624.710 us + 5.30sWARNros2_control_nodeOverrun might occur, Total time : 3049.547 us (Expected < 1666.667 us) --> Read time : 257.792 us, Update time : 2167.045 us, Write time : 624.710 us[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882817 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882817 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 2406.747 us (Expected < 1666.667 us) --> Read time : 212.240 us, Update time : 28.802 us, Write time : 2165.705 us + 6.34sWARNros2_control_nodeOverrun might occur, Total time : 2406.747 us (Expected < 1666.667 us) --> Read time : 212.240 us, Update time : 28.802 us, Write time : 2165.705 us[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359614 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359614 ms (missed cycles : 3).[0m ×2 + 7.36sWARNcontroller_managerOverrun might occur, Total time : 4119.669 us (Expected < 1666.667 us) --> Read time : 172.088 us, Update time : 3110.801 us, Write time : 836.780 us + 7.36sWARNros2_control_nodeOverrun might occur, Total time : 4119.669 us (Expected < 1666.667 us) --> Read time : 172.088 us, Update time : 3110.801 us, Write time : 836.780 us[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084115 ms (missed cycles : 2). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084115 ms (missed cycles : 2).[0m ×2 + 8.54sWARNcontroller_managerOverrun might occur, Total time : 1739.273 us (Expected < 1666.667 us) --> Read time : 794.358 us, Update time : 57.892 us, Write time : 887.023 us + 8.54sWARNros2_control_nodeOverrun might occur, Total time : 1739.273 us (Expected < 1666.667 us) --> Read time : 794.358 us, Update time : 57.892 us, Write time : 887.023 us[0m ×2 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697221 ms (missed cycles : 2). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697221 ms (missed cycles : 2).[0m ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.192246 ms (missed cycles : 7). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.192246 ms (missed cycles : 7).[0m ×2 + 10.41sWARNcontroller_managerOverrun might occur, Total time : 5671.525 us (Expected < 1666.667 us) --> Read time : 160.578 us, Update time : 32.201 us, Write time : 5478.746 us + 10.41sWARNros2_control_nodeOverrun might occur, Total time : 5671.525 us (Expected < 1666.667 us) --> Read time : 160.578 us, Update time : 32.201 us, Write time : 5478.746 us[0m ×2 + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035238 ms (missed cycles : 2). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035238 ms (missed cycles : 2).[0m ×2 + 11.54sWARNcontroller_managerOverrun might occur, Total time : 8345.374 us (Expected < 1666.667 us) --> Read time : 278.404 us, Update time : 7467.841 us, Write time : 599.129 us + 11.54sWARNros2_control_nodeOverrun might occur, Total time : 8345.374 us (Expected < 1666.667 us) --> Read time : 278.404 us, Update time : 7467.841 us, Write time : 599.129 us[0m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908750 ms (missed cycles : 2). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908750 ms (missed cycles : 2).[0m ×2 + 12.69sWARNcontroller_managerOverrun might occur, Total time : 5490.717 us (Expected < 1666.667 us) --> Read time : 239.702 us, Update time : 908.724 us, Write time : 4342.291 us + 12.69sWARNros2_control_nodeOverrun might occur, Total time : 5490.717 us (Expected < 1666.667 us) --> Read time : 239.702 us, Update time : 908.724 us, Write time : 4342.291 us[0m ×2 + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343115 ms (missed cycles : 4). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343115 ms (missed cycles : 4).[0m ×2 + 13.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780495499.73458195 seconds ×3 + 13.88sWARNcontroller_managerOverrun might occur, Total time : 5025.484 us (Expected < 1666.667 us) --> Read time : 199.110 us, Update time : 4353.581 us, Write time : 472.793 us + 13.89sWARNros2_control_nodeOverrun might occur, Total time : 5025.484 us (Expected < 1666.667 us) --> Read time : 199.110 us, Update time : 4353.581 us, Write time : 472.793 us[0m ×2 + 14.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780495500.38730192 seconds. ×3 + 14.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 14.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 14.11sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.11sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.15sWARNcontroller_managerOverrun might occur, Total time : 3862.596 us (Expected < 1666.667 us) --> Read time : 165.908 us, Update time : 3003.825 us (Switch time : 2955.244 us (Switch chained mode time : 0.510 us, perform mode change time : 6.251 us, Activation time : 2942.533 us, Deactivation time : 0.480 us)), Write time : 692.863 us + 14.15sWARNros2_control_nodeOverrun might occur, Total time : 3862.596 us (Expected < 1666.667 us) --> Read time : 165.908 us, Update time : 3003.825 us (Switch time : 2955.244 us (Switch chained mode time : 0.510 us, perform mode change time : 6.251 us, Activation time : 2942.533 us, Deactivation time : 0.480 us)), Write time : 692.863 us[0m ×2 + 14.15sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780495500.47746730 seconds ×3 + 14.32sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.32sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919694 ms (missed cycles : 3). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919694 ms (missed cycles : 3).[0m ×2 + 14.71sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780495501.03511405 seconds. ×3 + 14.73sINFOobjective_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 + 14.73sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780495501.05737615 seconds ×3 + 15.13sWARNcontroller_managerOverrun might occur, Total time : 6074.014 us (Expected < 1666.667 us) --> Read time : 288.824 us, Update time : 36.612 us, Write time : 5748.578 us + 15.13sWARNros2_control_nodeOverrun might occur, Total time : 6074.014 us (Expected < 1666.667 us) --> Read time : 288.824 us, Update time : 36.612 us, Write time : 5748.578 us[0m ×2 + 15.31sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780495501.63115382 seconds. ×3 + 15.40sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 15.41sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.43sINFOros2_control_node[2026-06-03 14:05:01.756] [info] Received new action goal ×2 + 15.43sINFOros2_control_node[2026-06-03 14:05:01.756] [info] Accepted new action goal ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423945 ms (missed cycles : 3). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423945 ms (missed cycles : 3).[0m ×2 + 16.55sWARNcontroller_managerOverrun might occur, Total time : 2346.764 us (Expected < 1666.667 us) --> Read time : 206.570 us, Update time : 1118.085 us, Write time : 1022.109 us + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669500 ms (missed cycles : 2). + 16.55sWARNros2_control_nodeOverrun might occur, Total time : 2346.764 us (Expected < 1666.667 us) --> Read time : 206.570 us, Update time : 1118.085 us, Write time : 1022.109 us[0m ×2 + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669500 ms (missed cycles : 2).[0m ×2
✓ passed	Pick April Tag Labeled Object With Approval	pick_april_tag_object_with_approval.xml	10.9s	3 errors · 96 warnings · 106 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763081 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763081 ms (missed cycles : 3).[0m ×2 + 0.08sWARNcontroller_managerOverrun might occur, Total time : 6641.374 us (Expected < 1666.667 us) --> Read time : 276.593 us, Update time : 5823.334 us, Write time : 541.447 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 6641.374 us (Expected < 1666.667 us) --> Read time : 276.593 us, Update time : 5823.334 us, Write time : 541.447 us[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747823 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747823 ms (missed cycles : 3).[0m ×2 + 1.24sWARNcontroller_managerOverrun might occur, Total time : 3338.574 us (Expected < 1666.667 us) --> Read time : 312.116 us, Update time : 2419.518 us, Write time : 606.940 us + 1.25sWARNros2_control_nodeOverrun might occur, Total time : 3338.574 us (Expected < 1666.667 us) --> Read time : 312.116 us, Update time : 2419.518 us, Write time : 606.940 us[0m ×2 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024840 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024840 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2017.218 us (Expected < 1666.667 us) --> Read time : 867.942 us, Update time : 60.943 us, Write time : 1088.333 us + 2.33sWARNros2_control_nodeOverrun might occur, Total time : 2017.218 us (Expected < 1666.667 us) --> Read time : 867.942 us, Update time : 60.943 us, Write time : 1088.333 us[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780495456.36229086 seconds ×3 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.56sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474147 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474147 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780495457.13071823 seconds. ×3 + 3.39sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.39sINFOfoxglove_bridgeRemoving channel 80 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.39sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution" + 3.39sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.39sINFOfoxglove_bridgeRemoving channel 80 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.39sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution"[0m ×2 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.53sINFOros2_control_node[2026-06-03 14:04:17.339] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-06-03 14:04:17.339] [info] Accepted new action goal ×2 + 3.74sWARNcontroller_managerOverrun might occur, Total time : 4873.358 us (Expected < 1666.667 us) --> Read time : 198.560 us, Update time : 4224.556 us, Write time : 450.242 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 4873.358 us (Expected < 1666.667 us) --> Read time : 198.560 us, Update time : 4224.556 us, Write time : 450.242 us[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592279 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592279 ms (missed cycles : 2).[0m ×2 + 4.83sWARNcontroller_managerOverrun might occur, Total time : 2239.239 us (Expected < 1666.667 us) --> Read time : 292.534 us, Update time : 1427.070 us, Write time : 519.635 us + 4.84sWARNros2_control_nodeOverrun might occur, Total time : 2239.239 us (Expected < 1666.667 us) --> Read time : 292.534 us, Update time : 1427.070 us, Write time : 519.635 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958207 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958207 ms (missed cycles : 2).[0m ×2 + 5.87sWARNcontroller_managerOverrun might occur, Total time : 1742.805 us (Expected < 1666.667 us) --> Read time : 1260.762 us, Update time : 63.143 us, Write time : 418.900 us + 5.88sWARNros2_control_nodeOverrun might occur, Total time : 1742.805 us (Expected < 1666.667 us) --> Read time : 1260.762 us, Update time : 63.143 us, Write time : 418.900 us[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.952412 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.952412 ms (missed cycles : 8).[0m ×2 + 6.93sWARNcontroller_managerOverrun might occur, Total time : 9554.146 us (Expected < 1666.667 us) --> Read time : 293.404 us, Update time : 8639.691 us, Write time : 621.051 us + 6.93sWARNros2_control_nodeOverrun might occur, Total time : 9554.146 us (Expected < 1666.667 us) --> Read time : 293.404 us, Update time : 8639.691 us, Write time : 621.051 us[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045341 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045341 ms (missed cycles : 2).[0m ×2 + 8.15sWARNcontroller_managerOverrun might occur, Total time : 2687.121 us (Expected < 1666.667 us) --> Read time : 304.785 us, Update time : 1973.456 us, Write time : 408.880 us + 8.15sWARNros2_control_nodeOverrun might occur, Total time : 2687.121 us (Expected < 1666.667 us) --> Read time : 304.785 us, Update time : 1973.456 us, Write time : 408.880 us[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874323 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874323 ms (missed cycles : 2).[0m ×2 + 9.23sWARNcontroller_managerOverrun might occur, Total time : 2421.338 us (Expected < 1666.667 us) --> Read time : 191.529 us, Update time : 1149.616 us, Write time : 1080.193 us + 9.24sWARNros2_control_nodeOverrun might occur, Total time : 2421.338 us (Expected < 1666.667 us) --> Read time : 191.529 us, Update time : 1149.616 us, Write time : 1080.193 us[0m ×2 + 9.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 9.30sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.45sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/solution" + 9.45sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/solution"[0m ×2 + 9.57sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 9.57sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 9.58sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 9.58sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 9.59sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 9.62sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 9.64sINFOobjective_server_nodeFound path in 1 iterations (0.003427 s). ×2 + 9.72sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876699 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876699 ms (missed cycles : 2).[0m ×2 + 9.74sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.76sINFOros2_control_node[2026-06-03 14:04:23.568] [info] Received new action goal ×2 + 9.76sINFOros2_control_node[2026-06-03 14:04:23.568] [info] Accepted new action goal ×2 + 10.41sWARNcontroller_managerOverrun might occur, Total time : 1807.258 us (Expected < 1666.667 us) --> Read time : 161.008 us, Update time : 481.884 us, Write time : 1164.366 us + 10.41sWARNros2_control_nodeOverrun might occur, Total time : 1807.258 us (Expected < 1666.667 us) --> Read time : 161.008 us, Update time : 481.884 us, Write time : 1164.366 us[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038573 ms (missed cycles : 3). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038573 ms (missed cycles : 3).[0m ×2 + 11.43sWARNcontroller_managerOverrun might occur, Total time : 6697.196 us (Expected < 1666.667 us) --> Read time : 241.491 us, Update time : 98.885 us, Write time : 6356.820 us + 11.44sWARNros2_control_nodeOverrun might occur, Total time : 6697.196 us (Expected < 1666.667 us) --> Read time : 241.491 us, Update time : 98.885 us, Write time : 6356.820 us[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437162 ms (missed cycles : 4). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437162 ms (missed cycles : 4).[0m ×2 + 12.28sINFOros2_control_node[2026-06-03 14:04:26.090] [info] Received new action goal ×2 + 12.28sINFOros2_control_node[2026-06-03 14:04:26.090] [info] Accepted new action goal ×2 + 12.54sWARNcontroller_managerOverrun might occur, Total time : 4069.688 us (Expected < 1666.667 us) --> Read time : 194.759 us, Update time : 34.132 us, Write time : 3840.797 us + 12.55sWARNros2_control_nodeOverrun might occur, Total time : 4069.688 us (Expected < 1666.667 us) --> Read time : 194.759 us, Update time : 34.132 us, Write time : 3840.797 us[0m ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640565 ms (missed cycles : 6). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640565 ms (missed cycles : 6).[0m ×2 + 13.43sINFOros2_control_node[2026-06-03 14:04:27.241] [info] Got request to cancel active goal. ×2 + 13.43sINFOros2_control_node[2026-06-03 14:04:27.241] [info] Canceling active goal... ×2 + 13.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780495467.25103068 seconds ×3 + 13.64sWARNcontroller_managerOverrun might occur, Total time : 4453.357 us (Expected < 1666.667 us) --> Read time : 229.571 us, Update time : 3672.069 us, Write time : 551.717 us + 13.64sWARNros2_control_nodeOverrun might occur, Total time : 4453.357 us (Expected < 1666.667 us) --> Read time : 229.571 us, Update time : 3672.069 us, Write time : 551.717 us[0m ×2 + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584933 ms (missed cycles : 6). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584933 ms (missed cycles : 6).[0m ×2 + 14.04sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780495467.84825420 seconds. ×3 + 14.05sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.05sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.19sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 14.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.20sINFOros2_control_node[2026-06-03 14:04:28.013] [info] Received new action goal ×2 + 14.20sINFOros2_control_node[2026-06-03 14:04:28.014] [info] Accepted new action goal ×2 + 14.55sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.55sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 14.77sWARNcontroller_managerOverrun might occur, Total time : 3378.335 us (Expected < 1666.667 us) --> Read time : 201.810 us, Update time : 2568.435 us, Write time : 608.090 us + 14.78sWARNros2_control_nodeOverrun might occur, Total time : 3378.335 us (Expected < 1666.667 us) --> Read time : 201.810 us, Update time : 2568.435 us, Write time : 608.090 us[0m ×2 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649739 ms (missed cycles : 3). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649739 ms (missed cycles : 3).[0m ×2 + 15.87sWARNcontroller_managerOverrun might occur, Total time : 1935.505 us (Expected < 1666.667 us) --> Read time : 170.739 us, Update time : 107.665 us, Write time : 1657.101 us + 15.88sWARNros2_control_nodeOverrun might occur, Total time : 1935.505 us (Expected < 1666.667 us) --> Read time : 170.739 us, Update time : 107.665 us, Write time : 1657.101 us[0m ×2 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390544 ms (missed cycles : 3). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390544 ms (missed cycles : 3).[0m ×2 + 16.11sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732358 ms (missed cycles : 2). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732358 ms (missed cycles : 2).[0m ×2
✓ passed	Cycle Between Waypoints	cycle_between_waypoints.xml	10.9s	3 errors · 99 warnings · 111 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.26sWARNcontroller_managerOverrun might occur, Total time : 1689.162 us (Expected < 1666.667 us) --> Read time : 241.432 us, Update time : 56.833 us, Write time : 1390.897 us + 0.26sWARNros2_control_nodeOverrun might occur, Total time : 1689.162 us (Expected < 1666.667 us) --> Read time : 241.432 us, Update time : 56.833 us, Write time : 1390.897 us[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213231 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213231 ms (missed cycles : 4).[0m ×2 + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.42sINFOros2_control_node[2026-06-03 14:00:44.898] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-06-03 14:00:44.898] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756048 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756048 ms (missed cycles : 2).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 5229.573 us (Expected < 1666.667 us) --> Read time : 289.504 us, Update time : 103.785 us, Write time : 4836.284 us + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 5229.573 us (Expected < 1666.667 us) --> Read time : 289.504 us, Update time : 103.785 us, Write time : 4836.284 us[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780495246.28476191 seconds ×3 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850385 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850385 ms (missed cycles : 2).[0m ×2 + 2.40sWARNcontroller_managerOverrun might occur, Total time : 2692.821 us (Expected < 1666.667 us) --> Read time : 1774.976 us, Update time : 62.933 us, Write time : 854.912 us + 2.40sWARNros2_control_nodeOverrun might occur, Total time : 2692.821 us (Expected < 1666.667 us) --> Read time : 1774.976 us, Update time : 62.933 us, Write time : 854.912 us[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780495246.88600111 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780495246.96614718 seconds ×3 + 2.82sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.82sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780495247.54095817 seconds. ×3 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.18sINFOros2_control_node[2026-06-03 14:00:47.655] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-06-03 14:00:47.655] [info] Accepted new action goal ×2 + 3.33sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.33sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314057 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314057 ms (missed cycles : 3).[0m ×2 + 3.50sWARNcontroller_managerOverrun might occur, Total time : 3116.741 us (Expected < 1666.667 us) --> Read time : 192.009 us, Update time : 2347.884 us, Write time : 576.848 us + 3.50sWARNros2_control_nodeOverrun might occur, Total time : 3116.741 us (Expected < 1666.667 us) --> Read time : 192.009 us, Update time : 2347.884 us, Write time : 576.848 us[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819161 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819161 ms (missed cycles : 2).[0m ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 4942.549 us (Expected < 1666.667 us) --> Read time : 158.747 us, Update time : 4140.451 us, Write time : 643.351 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 4942.549 us (Expected < 1666.667 us) --> Read time : 158.747 us, Update time : 4140.451 us, Write time : 643.351 us[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721537 ms (missed cycles : 6). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721537 ms (missed cycles : 6).[0m ×2 + 5.77sWARNcontroller_managerOverrun might occur, Total time : 2091.452 us (Expected < 1666.667 us) --> Read time : 275.103 us, Update time : 196.030 us, Write time : 1620.319 us + 5.77sWARNros2_control_nodeOverrun might occur, Total time : 2091.452 us (Expected < 1666.667 us) --> Read time : 275.103 us, Update time : 196.030 us, Write time : 1620.319 us[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333264 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333264 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.53sINFOros2_control_node[2026-06-03 14:00:51.005] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-06-03 14:00:51.005] [info] Accepted new action goal ×2 + 6.97sWARNcontroller_managerOverrun might occur, Total time : 3471.798 us (Expected < 1666.667 us) --> Read time : 2912.261 us, Update time : 107.185 us, Write time : 452.352 us + 6.97sWARNros2_control_nodeOverrun might occur, Total time : 3471.798 us (Expected < 1666.667 us) --> Read time : 2912.261 us, Update time : 107.185 us, Write time : 452.352 us[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198779 ms (missed cycles : 4). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198779 ms (missed cycles : 4).[0m ×2 + 8.02sWARNcontroller_managerOverrun might occur, Total time : 4848.986 us (Expected < 1666.667 us) --> Read time : 156.258 us, Update time : 4181.313 us, Write time : 511.415 us + 8.02sWARNros2_control_nodeOverrun might occur, Total time : 4848.986 us (Expected < 1666.667 us) --> Read time : 156.258 us, Update time : 4181.313 us, Write time : 511.415 us[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.515479 ms (missed cycles : 6). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.515479 ms (missed cycles : 6).[0m ×2 + 8.85sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 8.86sINFOros2_control_node[2026-06-03 14:00:53.334] [info] Received new action goal ×2 + 8.86sINFOros2_control_node[2026-06-03 14:00:53.334] [info] Accepted new action goal ×2 + 9.05sWARNcontroller_managerOverrun might occur, Total time : 1914.512 us (Expected < 1666.667 us) --> Read time : 486.294 us, Update time : 320.585 us, Write time : 1107.633 us + 9.06sWARNros2_control_nodeOverrun might occur, Total time : 1914.512 us (Expected < 1666.667 us) --> Read time : 486.294 us, Update time : 320.585 us, Write time : 1107.633 us[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.473673 ms (missed cycles : 6). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.473673 ms (missed cycles : 6).[0m ×2 + 10.07sWARNcontroller_managerOverrun might occur, Total time : 5563.750 us (Expected < 1666.667 us) --> Read time : 239.162 us, Update time : 4868.416 us, Write time : 456.172 us + 10.07sWARNros2_control_nodeOverrun might occur, Total time : 5563.750 us (Expected < 1666.667 us) --> Read time : 239.162 us, Update time : 4868.416 us, Write time : 456.172 us[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4).[0m ×2 + 11.09sWARNcontroller_managerOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us + 11.09sWARNros2_control_nodeOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us[0m ×2 + 11.21sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 11.22sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Received new action goal ×2 + 11.22sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Accepted new action goal ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5).[0m ×2 + 12.15sWARNcontroller_managerOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us + 12.15sWARNros2_control_nodeOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us[0m ×2 + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5).[0m ×2 + 13.32sWARNcontroller_managerOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us + 13.32sWARNros2_control_nodeOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us[0m ×2 + 13.36sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Got request to cancel active goal. ×2 + 13.36sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Canceling active goal... ×2 + 13.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495257.85378075 seconds ×3 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4).[0m ×2 + 14.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495258.60990453 seconds. ×3 + 14.42sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 14.42sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 14.42sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 14.42sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 14.48sWARNcontroller_managerOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us + 14.49sWARNros2_control_nodeOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us[0m ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2).[0m ×2 + 15.34sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 15.34sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.36sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Received new action goal ×2 + 15.36sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Accepted new action goal ×2 + 15.51sWARNcontroller_managerOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us + 15.51sWARNros2_control_nodeOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us[0m ×2 + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6).[0m ×2 + 16.66sWARNcontroller_managerOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us + 16.66sWARNros2_control_nodeOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us[0m ×2 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8).[0m ×2
✓ passed	Stationary Admittance	stationary_admittance.xml	10.9s	6 errors · 108 warnings · 147 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035238 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035238 ms (missed cycles : 2).[0m ×2 + 0.16sWARNcontroller_managerOverrun might occur, Total time : 8345.374 us (Expected < 1666.667 us) --> Read time : 278.404 us, Update time : 7467.841 us, Write time : 599.129 us + 0.17sWARNros2_control_nodeOverrun might occur, Total time : 8345.374 us (Expected < 1666.667 us) --> Read time : 278.404 us, Update time : 7467.841 us, Write time : 599.129 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908750 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908750 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun might occur, Total time : 5490.717 us (Expected < 1666.667 us) --> Read time : 239.702 us, Update time : 908.724 us, Write time : 4342.291 us + 1.32sWARNros2_control_nodeOverrun might occur, Total time : 5490.717 us (Expected < 1666.667 us) --> Read time : 239.702 us, Update time : 908.724 us, Write time : 4342.291 us[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343115 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343115 ms (missed cycles : 4).[0m ×2 + 2.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780495499.73458195 seconds ×3 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.13sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 2.51sWARNcontroller_managerOverrun might occur, Total time : 5025.484 us (Expected < 1666.667 us) --> Read time : 199.110 us, Update time : 4353.581 us, Write time : 472.793 us + 2.51sWARNros2_control_nodeOverrun might occur, Total time : 5025.484 us (Expected < 1666.667 us) --> Read time : 199.110 us, Update time : 4353.581 us, Write time : 472.793 us[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780495500.38730192 seconds. ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.74sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.77sWARNcontroller_managerOverrun might occur, Total time : 3862.596 us (Expected < 1666.667 us) --> Read time : 165.908 us, Update time : 3003.825 us (Switch time : 2955.244 us (Switch chained mode time : 0.510 us, perform mode change time : 6.251 us, Activation time : 2942.533 us, Deactivation time : 0.480 us)), Write time : 692.863 us + 2.77sWARNros2_control_nodeOverrun might occur, Total time : 3862.596 us (Expected < 1666.667 us) --> Read time : 165.908 us, Update time : 3003.825 us (Switch time : 2955.244 us (Switch chained mode time : 0.510 us, perform mode change time : 6.251 us, Activation time : 2942.533 us, Deactivation time : 0.480 us)), Write time : 692.863 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780495500.47746730 seconds ×3 + 2.95sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.95sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919694 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919694 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780495501.03511405 seconds. ×3 + 3.36sINFOobjective_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 + 3.36sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780495501.05737615 seconds ×3 + 3.76sWARNcontroller_managerOverrun might occur, Total time : 6074.014 us (Expected < 1666.667 us) --> Read time : 288.824 us, Update time : 36.612 us, Write time : 5748.578 us + 3.76sWARNros2_control_nodeOverrun might occur, Total time : 6074.014 us (Expected < 1666.667 us) --> Read time : 288.824 us, Update time : 36.612 us, Write time : 5748.578 us[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780495501.63115382 seconds. ×3 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.06sINFOros2_control_node[2026-06-03 14:05:01.756] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-06-03 14:05:01.756] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423945 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423945 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 2346.764 us (Expected < 1666.667 us) --> Read time : 206.570 us, Update time : 1118.085 us, Write time : 1022.109 us + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669500 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 2346.764 us (Expected < 1666.667 us) --> Read time : 206.570 us, Update time : 1118.085 us, Write time : 1022.109 us[0m ×2 + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669500 ms (missed cycles : 2).[0m ×2 + 6.20sWARNcontroller_managerOverrun might occur, Total time : 5078.715 us (Expected < 1666.667 us) --> Read time : 189.849 us, Update time : 4256.026 us, Write time : 632.840 us + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332842 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun might occur, Total time : 5078.715 us (Expected < 1666.667 us) --> Read time : 189.849 us, Update time : 4256.026 us, Write time : 632.840 us[0m ×2 + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332842 ms (missed cycles : 4).[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893751 ms (missed cycles : 3). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893751 ms (missed cycles : 3).[0m ×2 + 7.37sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.38sINFOros2_control_node[2026-06-03 14:05:05.076] [info] Received new action goal ×2 + 7.38sINFOros2_control_node[2026-06-03 14:05:05.076] [info] Accepted new action goal ×2 + 7.38sINFOros2_control_node[2026-06-03 14:05:05.076] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.42sWARNcontroller_managerOverrun might occur, Total time : 3479.369 us (Expected < 1666.667 us) --> Read time : 191.789 us, Update time : 2802.876 us, Write time : 484.704 us + 7.42sWARNros2_control_nodeOverrun might occur, Total time : 3479.369 us (Expected < 1666.667 us) --> Read time : 191.789 us, Update time : 2802.876 us, Write time : 484.704 us[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840527 ms (missed cycles : 2). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840527 ms (missed cycles : 2).[0m ×2 + 8.43sWARNcontroller_managerOverrun might occur, Total time : 3250.987 us (Expected < 1666.667 us) --> Read time : 181.538 us, Update time : 2594.296 us, Write time : 475.153 us + 8.43sWARNros2_control_nodeOverrun might occur, Total time : 3250.987 us (Expected < 1666.667 us) --> Read time : 181.538 us, Update time : 2594.296 us, Write time : 475.153 us[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611500 ms (missed cycles : 3). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611500 ms (missed cycles : 3).[0m ×2 + 9.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.37% of iterations over budget over 5:10.012 of wall time (1308/95280). Consistently above 1% means the model timestep should be raised.[0m ×2 + 9.86sWARNcontroller_managerOverrun might occur, Total time : 1934.063 us (Expected < 1666.667 us) --> Read time : 411.920 us, Update time : 1033.480 us, Write time : 488.663 us + 9.87sWARNros2_control_nodeOverrun might occur, Total time : 1934.063 us (Expected < 1666.667 us) --> Read time : 411.920 us, Update time : 1033.480 us, Write time : 488.663 us[0m ×2 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720262 ms (missed cycles : 6). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720262 ms (missed cycles : 6).[0m ×2 + 10.88sWARNcontroller_managerOverrun might occur, Total time : 5271.206 us (Expected < 1666.667 us) --> Read time : 217.690 us, Update time : 112.636 us, Write time : 4940.880 us + 10.88sWARNros2_control_nodeOverrun might occur, Total time : 5271.206 us (Expected < 1666.667 us) --> Read time : 217.690 us, Update time : 112.636 us, Write time : 4940.880 us[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.443286 ms (missed cycles : 7). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.443286 ms (missed cycles : 7).[0m ×2 + 11.91sWARNcontroller_managerOverrun might occur, Total time : 5612.082 us (Expected < 1666.667 us) --> Read time : 192.609 us, Update time : 4786.363 us, Write time : 633.110 us + 11.91sWARNros2_control_nodeOverrun might occur, Total time : 5612.082 us (Expected < 1666.667 us) --> Read time : 192.609 us, Update time : 4786.363 us, Write time : 633.110 us[0m ×2 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228351 ms (missed cycles : 2). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228351 ms (missed cycles : 2).[0m ×2 + 13.05sWARNcontroller_managerOverrun might occur, Total time : 2124.393 us (Expected < 1666.667 us) --> Read time : 241.111 us, Update time : 1463.281 us, Write time : 420.001 us + 13.05sWARNros2_control_nodeOverrun might occur, Total time : 2124.393 us (Expected < 1666.667 us) --> Read time : 241.111 us, Update time : 1463.281 us, Write time : 420.001 us[0m ×2 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722645 ms (missed cycles : 3). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722645 ms (missed cycles : 3).[0m ×2 + 14.15sINFOros2_control_node[2026-06-03 14:05:11.845] [info] Got request to cancel active goal. ×2 + 14.15sINFOros2_control_node[2026-06-03 14:05:11.845] [info] Canceling active goal... ×2 + 14.16sWARNcontroller_managerOverrun might occur, Total time : 2251.058 us (Expected < 1666.667 us) --> Read time : 208.230 us, Update time : 1549.725 us, Write time : 493.103 us + 14.16sWARNros2_control_nodeOverrun might occur, Total time : 2251.058 us (Expected < 1666.667 us) --> Read time : 208.230 us, Update time : 1549.725 us, Write time : 493.103 us[0m ×2 + 14.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780495511.86425567 seconds ×3 + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.077377 ms (missed cycles : 8). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.077377 ms (missed cycles : 8).[0m ×2 + 14.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780495512.47416663 seconds. ×3 + 15.06sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event" + 15.06sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event"[0m ×2 + 15.23sWARNcontroller_managerOverrun might occur, Total time : 3735.401 us (Expected < 1666.667 us) --> Read time : 254.882 us, Update time : 3017.847 us, Write time : 462.672 us + 15.23sWARNros2_control_nodeOverrun might occur, Total time : 3735.401 us (Expected < 1666.667 us) --> Read time : 254.882 us, Update time : 3017.847 us, Write time : 462.672 us[0m ×2 + 15.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780495513.06432581 seconds ×3 + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.332520 ms (missed cycles : 7). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.332520 ms (missed cycles : 7).[0m ×2 + 15.93sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780495513.63112664 seconds. ×3 + 15.93sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.93sINFOobjective_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 + 15.93sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.93sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780495513.63310981 seconds ×3 + 16.07sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 16.07sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg" + 16.07sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 16.07sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg"[0m ×2 + 16.42sWARNcontroller_managerOverrun might occur, Total time : 8276.192 us (Expected < 1666.667 us) --> Read time : 224.051 us, Update time : 7299.865 us, Write time : 752.276 us + 16.43sWARNros2_control_nodeOverrun might occur, Total time : 8276.192 us (Expected < 1666.667 us) --> Read time : 224.051 us, Update time : 7299.865 us, Write time : 752.276 us[0m ×2 + 16.49sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780495514.19157910 seconds. ×3 + 16.49sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780495514.19218850 seconds ×3 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123279 ms (missed cycles : 2). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123279 ms (missed cycles : 2).[0m ×2 + 16.57sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String) + 16.57sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 17.06sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780495514.76237297 seconds. ×3 + 17.43sWARNcontroller_managerOverrun might occur, Total time : 1783.807 us (Expected < 1666.667 us) --> Read time : 220.891 us, Update time : 1131.605 us, Write time : 431.311 us + 17.44sWARNros2_control_nodeOverrun might occur, Total time : 1783.807 us (Expected < 1666.667 us) --> Read time : 220.891 us, Update time : 1131.605 us, Write time : 431.311 us[0m ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143870 ms (missed cycles : 5). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143870 ms (missed cycles : 5).[0m ×2 + 17.58sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures" + 17.58sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures"[0m ×2 + 17.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780495515.49250078 seconds ×3
✓ passed	Grasp Pose Tuning With April Tag	grasp_pose_tuning_with_april_tag.xml	10.7s	6 errors · 96 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4).[0m ×2 + 0.49sWARNcontroller_managerOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us + 0.49sWARNros2_control_nodeOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us[0m ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.61sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5).[0m ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5).[0m ×2 + 2.71sWARNcontroller_managerOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us + 2.71sWARNros2_control_nodeOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us[0m ×2 + 2.76sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Canceling active goal... ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495257.85378075 seconds ×3 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495258.60990453 seconds. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.87sWARNcontroller_managerOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us + 3.88sWARNros2_control_nodeOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.75sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us + 4.90sWARNros2_control_nodeOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8).[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822397 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822397 ms (missed cycles : 2).[0m ×2 + 7.27sWARNcontroller_managerOverrun might occur, Total time : 4049.576 us (Expected < 1666.667 us) --> Read time : 250.672 us, Update time : 3189.815 us, Write time : 609.089 us + 7.28sWARNros2_control_nodeOverrun might occur, Total time : 4049.576 us (Expected < 1666.667 us) --> Read time : 250.672 us, Update time : 3189.815 us, Write time : 609.089 us[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080649 ms (missed cycles : 2). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080649 ms (missed cycles : 2).[0m ×2 + 8.50sWARNcontroller_managerOverrun might occur, Total time : 4933.450 us (Expected < 1666.667 us) --> Read time : 247.942 us, Update time : 4061.308 us, Write time : 624.200 us + 8.50sWARNros2_control_nodeOverrun might occur, Total time : 4933.450 us (Expected < 1666.667 us) --> Read time : 247.942 us, Update time : 4061.308 us, Write time : 624.200 us[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872201 ms (missed cycles : 5). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872201 ms (missed cycles : 5).[0m ×2 + 9.52sWARNcontroller_managerOverrun might occur, Total time : 1755.156 us (Expected < 1666.667 us) --> Read time : 746.526 us, Update time : 187.360 us, Write time : 821.270 us + 9.52sWARNros2_control_nodeOverrun might occur, Total time : 1755.156 us (Expected < 1666.667 us) --> Read time : 746.526 us, Update time : 187.360 us, Write time : 821.270 us[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.531636 ms (missed cycles : 6). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.531636 ms (missed cycles : 6).[0m ×2 + 10.85sWARNcontroller_managerOverrun might occur, Total time : 3616.406 us (Expected < 1666.667 us) --> Read time : 232.021 us, Update time : 54.363 us, Write time : 3330.022 us + 10.85sWARNros2_control_nodeOverrun might occur, Total time : 3616.406 us (Expected < 1666.667 us) --> Read time : 232.021 us, Update time : 54.363 us, Write time : 3330.022 us[0m ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484226 ms (missed cycles : 3). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484226 ms (missed cycles : 3).[0m ×2 + 11.88sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/pcd_pointcloud_captures" + 11.88sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/pcd_pointcloud_captures"[0m ×2 + 11.93sWARNcontroller_managerOverrun might occur, Total time : 2709.481 us (Expected < 1666.667 us) --> Read time : 206.360 us, Update time : 1970.745 us, Write time : 532.376 us + 11.93sWARNros2_control_nodeOverrun might occur, Total time : 2709.481 us (Expected < 1666.667 us) --> Read time : 206.360 us, Update time : 1970.745 us, Write time : 532.376 us[0m ×2 + 11.99sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.22% of iterations over budget over 1:10.001 of wall time (264/21655). Consistently above 1% means the model timestep should be raised.[0m ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896213 ms (missed cycles : 3). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896213 ms (missed cycles : 3).[0m ×2 + 12.39sINFOfoxglove_bridgeRemoving channel 70 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 12.39sINFOfoxglove_bridgeRemoving channel 70 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 13.25sWARNcontroller_managerOverrun might occur, Total time : 1744.514 us (Expected < 1666.667 us) --> Read time : 214.010 us, Update time : 66.383 us, Write time : 1464.121 us + 13.26sWARNros2_control_nodeOverrun might occur, Total time : 1744.514 us (Expected < 1666.667 us) --> Read time : 214.010 us, Update time : 66.383 us, Write time : 1464.121 us[0m ×2 + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784558 ms (missed cycles : 3). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784558 ms (missed cycles : 3).[0m ×2 + 13.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780495268.74027061 seconds ×3 + 14.22sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780495269.30935597 seconds. ×3 + 14.40sINFOfoxglove_bridgeRemoving channel 68 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.40sINFOfoxglove_bridgeRemoving channel 68 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.41sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 14.42sINFOros2_control_node[2026-06-03 14:01:09.503] [info] Received new action goal ×2 + 14.42sINFOros2_control_node[2026-06-03 14:01:09.503] [info] Accepted new action goal ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443094 ms (missed cycles : 4). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443094 ms (missed cycles : 4).[0m ×2 + 14.51sWARNcontroller_managerOverrun might occur, Total time : 3101.891 us (Expected < 1666.667 us) --> Read time : 219.861 us, Update time : 139.097 us, Write time : 2742.933 us + 14.51sWARNros2_control_nodeOverrun might occur, Total time : 3101.891 us (Expected < 1666.667 us) --> Read time : 219.861 us, Update time : 139.097 us, Write time : 2742.933 us[0m ×2 + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951600 ms (missed cycles : 2). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951600 ms (missed cycles : 2).[0m ×2 + 15.54sWARNcontroller_managerOverrun might occur, Total time : 7356.796 us (Expected < 1666.667 us) --> Read time : 6788.899 us, Update time : 97.664 us, Write time : 470.233 us + 15.54sWARNros2_control_nodeOverrun might occur, Total time : 7356.796 us (Expected < 1666.667 us) --> Read time : 6788.899 us, Update time : 97.664 us, Write time : 470.233 us[0m ×2 + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489737 ms (missed cycles : 3). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489737 ms (missed cycles : 3).[0m ×2 + 16.58sWARNcontroller_managerOverrun might occur, Total time : 4893.778 us (Expected < 1666.667 us) --> Read time : 222.961 us, Update time : 4127.080 us, Write time : 543.737 us + 16.58sWARNros2_control_nodeOverrun might occur, Total time : 4893.778 us (Expected < 1666.667 us) --> Read time : 222.961 us, Update time : 4127.080 us, Write time : 543.737 us[0m ×2
✓ passed	3 Waypoints Pick and Place	3_waypoint_pick_and_place.xml	10.7s	3 errors · 99 warnings · 175 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.86sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 1.15sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 1.15sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.83sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.83sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.83sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.83sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.88sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 2.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.89sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 3.35sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 3.36sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.62sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 4.45sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 4.45sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 4.78sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 5.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 5.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.13sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.15sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 6.15sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.195819 ms (missed cycles : 7). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.195819 ms (missed cycles : 7).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 2741.403 us (Expected < 1666.667 us) --> Read time : 1598.657 us, Update time : 164.218 us, Write time : 978.528 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 2741.403 us (Expected < 1666.667 us) --> Read time : 1598.657 us, Update time : 164.218 us, Write time : 978.528 us[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745355 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745355 ms (missed cycles : 2).[0m ×2 + 7.73sWARNcontroller_managerOverrun might occur, Total time : 4818.795 us (Expected < 1666.667 us) --> Read time : 231.442 us, Update time : 4057.367 us, Write time : 529.986 us + 7.73sWARNros2_control_nodeOverrun might occur, Total time : 4818.795 us (Expected < 1666.667 us) --> Read time : 231.442 us, Update time : 4057.367 us, Write time : 529.986 us[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965761 ms (missed cycles : 3). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965761 ms (missed cycles : 3).[0m ×2 + 9.13sWARNcontroller_managerOverrun might occur, Total time : 8212.587 us (Expected < 1666.667 us) --> Read time : 150.867 us, Update time : 7506.113 us, Write time : 555.607 us + 9.13sWARNros2_control_nodeOverrun might occur, Total time : 8212.587 us (Expected < 1666.667 us) --> Read time : 150.867 us, Update time : 7506.113 us, Write time : 555.607 us[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907530 ms (missed cycles : 3). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907530 ms (missed cycles : 3).[0m ×2 + 9.89sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 9.91sINFOros2_control_node[2026-06-03 14:00:12.197] [info] Received new action goal ×2 + 9.91sINFOros2_control_node[2026-06-03 14:00:12.197] [info] Accepted new action goal ×2 + 10.30sWARNcontroller_managerOverrun might occur, Total time : 2729.802 us (Expected < 1666.667 us) --> Read time : 165.058 us, Update time : 343.017 us, Write time : 2221.727 us + 10.30sWARNros2_control_nodeOverrun might occur, Total time : 2729.802 us (Expected < 1666.667 us) --> Read time : 165.058 us, Update time : 343.017 us, Write time : 2221.727 us[0m ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513012 ms (missed cycles : 3). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513012 ms (missed cycles : 3).[0m ×2 + 11.53sWARNcontroller_managerOverrun might occur, Total time : 8178.437 us (Expected < 1666.667 us) --> Read time : 161.178 us, Update time : 7474.463 us, Write time : 542.796 us + 11.53sWARNros2_control_nodeOverrun might occur, Total time : 8178.437 us (Expected < 1666.667 us) --> Read time : 161.178 us, Update time : 7474.463 us, Write time : 542.796 us[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693640 ms (missed cycles : 6). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693640 ms (missed cycles : 6).[0m ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496826 ms (missed cycles : 3). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496826 ms (missed cycles : 3).[0m ×2 + 12.62sWARNcontroller_managerOverrun might occur, Total time : 4826.344 us (Expected < 1666.667 us) --> Read time : 265.913 us, Update time : 4066.467 us, Write time : 493.964 us + 12.62sWARNros2_control_nodeOverrun might occur, Total time : 4826.344 us (Expected < 1666.667 us) --> Read time : 265.913 us, Update time : 4066.467 us, Write time : 493.964 us[0m ×2 + 13.22sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 13.23sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.24sINFOros2_control_node[2026-06-03 14:00:15.526] [info] Received new action goal ×2 + 13.24sINFOros2_control_node[2026-06-03 14:00:15.526] [info] Accepted new action goal ×2 + 13.55sINFOros2_control_node[2026-06-03 14:00:15.842] [info] Got request to cancel active goal. ×2 + 13.56sINFOros2_control_node[2026-06-03 14:00:15.842] [info] Canceling active goal... ×2 + 13.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780495215.85918593 seconds ×3 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522731 ms (missed cycles : 3). + 13.64sWARNcontroller_managerOverrun might occur, Total time : 4861.236 us (Expected < 1666.667 us) --> Read time : 188.819 us, Update time : 4118.960 us, Write time : 553.457 us + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522731 ms (missed cycles : 3).[0m ×2 + 13.64sWARNros2_control_nodeOverrun might occur, Total time : 4861.236 us (Expected < 1666.667 us) --> Read time : 188.819 us, Update time : 4118.960 us, Write time : 553.457 us[0m ×2 + 14.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780495216.42135596 seconds. ×3 + 14.26sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780495216.55151176 seconds ×3 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.139453 ms (missed cycles : 7). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.139453 ms (missed cycles : 7).[0m ×2 + 14.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780495217.14217043 seconds. ×3 + 15.19sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 15.19sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 15.23sWARNcontroller_managerOverrun might occur, Total time : 5260.996 us (Expected < 1666.667 us) --> Read time : 4366.122 us, Update time : 118.216 us, Write time : 776.658 us + 15.23sWARNros2_control_nodeOverrun might occur, Total time : 5260.996 us (Expected < 1666.667 us) --> Read time : 4366.122 us, Update time : 118.216 us, Write time : 776.658 us[0m ×2 + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161715 ms (missed cycles : 4). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161715 ms (missed cycles : 4).[0m ×2 + 16.04sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 16.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.05sINFOros2_control_node[2026-06-03 14:00:18.336] [info] Received new action goal ×2 + 16.05sINFOros2_control_node[2026-06-03 14:00:18.336] [info] Accepted new action goal ×2 + 16.46sWARNcontroller_managerOverrun might occur, Total time : 1926.763 us (Expected < 1666.667 us) --> Read time : 129.716 us, Update time : 766.977 us, Write time : 1030.070 us + 16.47sWARNros2_control_nodeOverrun might occur, Total time : 1926.763 us (Expected < 1666.667 us) --> Read time : 129.716 us, Update time : 766.977 us, Write time : 1030.070 us[0m ×2 + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826247 ms (missed cycles : 2). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826247 ms (missed cycles : 2).[0m ×2 + 17.54sWARNcontroller_managerOverrun might occur, Total time : 2043.238 us (Expected < 1666.667 us) --> Read time : 281.633 us, Update time : 90.824 us, Write time : 1670.781 us + 17.54sWARNros2_control_nodeOverrun might occur, Total time : 2043.238 us (Expected < 1666.667 us) --> Read time : 281.633 us, Update time : 90.824 us, Write time : 1670.781 us[0m ×2
✓ passed	Playback Square Trajectory	playback_square_trajectory.xml	10.4s	3 errors · 90 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 6172.332 us (Expected < 1666.667 us) --> Read time : 237.362 us, Update time : 5369.342 us, Write time : 565.628 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 6172.332 us (Expected < 1666.667 us) --> Read time : 237.362 us, Update time : 5369.342 us, Write time : 565.628 us[0m ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903635 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903635 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun might occur, Total time : 5696.858 us (Expected < 1666.667 us) --> Read time : 257.203 us, Update time : 4595.564 us, Write time : 844.091 us + 1.01sWARNros2_control_nodeOverrun might occur, Total time : 5696.858 us (Expected < 1666.667 us) --> Read time : 257.203 us, Update time : 4595.564 us, Write time : 844.091 us[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221501 ms (missed cycles : 4). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221501 ms (missed cycles : 4).[0m ×2 + 2.61sWARNcontroller_managerOverrun might occur, Total time : 2553.044 us (Expected < 1666.667 us) --> Read time : 161.448 us, Update time : 1910.053 us, Write time : 481.543 us + 2.61sWARNros2_control_nodeOverrun might occur, Total time : 2553.044 us (Expected < 1666.667 us) --> Read time : 161.448 us, Update time : 1910.053 us, Write time : 481.543 us[0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938618 ms (missed cycles : 3). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938618 ms (missed cycles : 3).[0m ×2 + 3.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780495478.33857799 seconds ×3 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.70sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780495478.89448905 seconds. ×3 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 1699.913 us (Expected < 1666.667 us) --> Read time : 241.592 us, Update time : 64.763 us, Write time : 1393.558 us + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 1699.913 us (Expected < 1666.667 us) --> Read time : 241.592 us, Update time : 64.763 us, Write time : 1393.558 us[0m ×2 + 3.76sINFOfoxglove_bridgeRemoving channel 82 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.76sINFOfoxglove_bridgeRemoving channel 82 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781646 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781646 ms (missed cycles : 3).[0m ×2 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.96sINFOros2_control_node[2026-06-03 14:04:39.157] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-06-03 14:04:39.157] [info] Accepted new action goal ×2 + 4.72sWARNcontroller_managerOverrun might occur, Total time : 6046.376 us (Expected < 1666.667 us) --> Read time : 272.893 us, Update time : 5203.885 us, Write time : 569.598 us + 4.73sWARNros2_control_nodeOverrun might occur, Total time : 6046.376 us (Expected < 1666.667 us) --> Read time : 272.893 us, Update time : 5203.885 us, Write time : 569.598 us[0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.945992 ms (missed cycles : 5). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.945992 ms (missed cycles : 5).[0m ×2 + 5.75sWARNcontroller_managerOverrun might occur, Total time : 4971.883 us (Expected < 1666.667 us) --> Read time : 839.301 us, Update time : 77.004 us, Write time : 4055.578 us + 5.75sWARNros2_control_nodeOverrun might occur, Total time : 4971.883 us (Expected < 1666.667 us) --> Read time : 839.301 us, Update time : 77.004 us, Write time : 4055.578 us[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597522 ms (missed cycles : 6). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597522 ms (missed cycles : 6).[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612439 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612439 ms (missed cycles : 3).[0m ×2 + 7.00sWARNcontroller_managerOverrun might occur, Total time : 1680.702 us (Expected < 1666.667 us) --> Read time : 682.163 us, Update time : 462.113 us, Write time : 536.426 us + 7.01sWARNros2_control_nodeOverrun might occur, Total time : 1680.702 us (Expected < 1666.667 us) --> Read time : 682.163 us, Update time : 462.113 us, Write time : 536.426 us[0m ×2 + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624829 ms (missed cycles : 3). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624829 ms (missed cycles : 3).[0m ×2 + 7.98sINFOros2_control_node[2026-06-03 14:04:43.180] [info] Received new action goal ×2 + 7.98sINFOros2_control_node[2026-06-03 14:04:43.180] [info] Accepted new action goal ×2 + 8.89sWARNcontroller_managerOverrun might occur, Total time : 2891.511 us (Expected < 1666.667 us) --> Read time : 240.632 us, Update time : 82.614 us, Write time : 2568.265 us + 8.89sWARNros2_control_nodeOverrun might occur, Total time : 2891.511 us (Expected < 1666.667 us) --> Read time : 240.632 us, Update time : 82.614 us, Write time : 2568.265 us[0m ×2 + 9.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.629825 ms (missed cycles : 6). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.629825 ms (missed cycles : 6).[0m ×2 + 10.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.926920 ms (missed cycles : 8). + 10.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.926920 ms (missed cycles : 8).[0m ×2 + 10.23sWARNcontroller_managerOverrun might occur, Total time : 2515.403 us (Expected < 1666.667 us) --> Read time : 201.510 us, Update time : 1866.041 us, Write time : 447.852 us + 10.23sWARNros2_control_nodeOverrun might occur, Total time : 2515.403 us (Expected < 1666.667 us) --> Read time : 201.510 us, Update time : 1866.041 us, Write time : 447.852 us[0m ×2 + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015957 ms (missed cycles : 2). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015957 ms (missed cycles : 2).[0m ×2 + 11.31sWARNcontroller_managerOverrun might occur, Total time : 1891.141 us (Expected < 1666.667 us) --> Read time : 338.836 us, Update time : 1074.102 us, Write time : 478.203 us + 11.31sWARNros2_control_nodeOverrun might occur, Total time : 1891.141 us (Expected < 1666.667 us) --> Read time : 338.836 us, Update time : 1074.102 us, Write time : 478.203 us[0m ×2 + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264531 ms (missed cycles : 5). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264531 ms (missed cycles : 5).[0m ×2 + 12.49sWARNcontroller_managerOverrun might occur, Total time : 2869.650 us (Expected < 1666.667 us) --> Read time : 182.139 us, Update time : 1926.964 us, Write time : 760.547 us + 12.49sWARNros2_control_nodeOverrun might occur, Total time : 2869.650 us (Expected < 1666.667 us) --> Read time : 182.139 us, Update time : 1926.964 us, Write time : 760.547 us[0m ×2 + 13.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.351852 ms (missed cycles : 7). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.351852 ms (missed cycles : 7).[0m ×2 + 13.57sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780495488.77053094 seconds ×3 + 14.13sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780495489.33355188 seconds. ×3 + 14.15sWARNcontroller_managerOverrun might occur, Total time : 1975.926 us (Expected < 1666.667 us) --> Read time : 312.285 us, Update time : 1135.665 us, Write time : 527.976 us + 14.15sWARNros2_control_nodeOverrun might occur, Total time : 1975.926 us (Expected < 1666.667 us) --> Read time : 312.285 us, Update time : 1135.665 us, Write time : 527.976 us[0m ×2 + 14.26sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 14.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.27sINFOros2_control_node[2026-06-03 14:04:49.468] [info] Received new action goal ×2 + 14.27sINFOros2_control_node[2026-06-03 14:04:49.468] [info] Accepted new action goal ×2 + 14.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700930 ms (missed cycles : 6). + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700930 ms (missed cycles : 6).[0m ×2 + 14.35sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution" + 14.36sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution"[0m ×2 + 15.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694407 ms (missed cycles : 2). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694407 ms (missed cycles : 2).[0m ×2 + 15.34sWARNcontroller_managerOverrun might occur, Total time : 3860.477 us (Expected < 1666.667 us) --> Read time : 816.649 us, Update time : 79.344 us, Write time : 2964.484 us + 15.34sWARNros2_control_nodeOverrun might occur, Total time : 3860.477 us (Expected < 1666.667 us) --> Read time : 816.649 us, Update time : 79.344 us, Write time : 2964.484 us[0m ×2 + 16.18sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049584 ms (missed cycles : 4). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049584 ms (missed cycles : 4).[0m ×2 + 16.43sWARNcontroller_managerOverrun might occur, Total time : 3049.547 us (Expected < 1666.667 us) --> Read time : 257.792 us, Update time : 2167.045 us, Write time : 624.710 us + 16.43sWARNros2_control_nodeOverrun might occur, Total time : 3049.547 us (Expected < 1666.667 us) --> Read time : 257.792 us, Update time : 2167.045 us, Write time : 624.710 us[0m ×2
✓ passed	ML Find Objects on Table	ml_find_objects_on_table.xml	7.9s	87 warnings · 147 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868187 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868187 ms (missed cycles : 5).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780495292.26031184 seconds. ×3 + 0.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.29sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.29sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.29sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.30sWARNcontroller_managerOverrun might occur, Total time : 4070.457 us (Expected < 1666.667 us) --> Read time : 265.023 us, Update time : 3179.794 us (Switch time : 3129.761 us (Switch chained mode time : 0.430 us, perform mode change time : 5.480 us, Activation time : 3112.461 us, Deactivation time : 0.440 us)), Write time : 625.640 us + 0.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.30sWARNros2_control_nodeOverrun might occur, Total time : 4070.457 us (Expected < 1666.667 us) --> Read time : 265.023 us, Update time : 3179.794 us (Switch time : 3129.761 us (Switch chained mode time : 0.430 us, perform mode change time : 5.480 us, Activation time : 3112.461 us, Deactivation time : 0.440 us)), Write time : 625.640 us[0m ×2 + 0.30sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780495292.33044457 seconds ×3 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.96sWARNcontroller_managerOverrun might occur, Total time : 3257.907 us (Expected < 1666.667 us) --> Read time : 280.263 us, Update time : 2376.365 us, Write time : 601.279 us + 0.96sWARNros2_control_nodeOverrun might occur, Total time : 3257.907 us (Expected < 1666.667 us) --> Read time : 280.263 us, Update time : 2376.365 us, Write time : 601.279 us[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780495292.99093080 seconds. ×3 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791734 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791734 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 1.08sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 1.10sINFOros2_control_node[2026-06-03 14:01:33.125] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-06-03 14:01:33.125] [info] Accepted new action goal ×2 + 2.01sWARNcontroller_managerOverrun might occur, Total time : 3919.020 us (Expected < 1666.667 us) --> Read time : 177.689 us, Update time : 3163.223 us, Write time : 578.108 us + 2.01sWARNros2_control_nodeOverrun might occur, Total time : 3919.020 us (Expected < 1666.667 us) --> Read time : 177.689 us, Update time : 3163.223 us, Write time : 578.108 us[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496294 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496294 ms (missed cycles : 3).[0m ×2 + 3.01sWARNcontroller_managerOverrun might occur, Total time : 9537.364 us (Expected < 1666.667 us) --> Read time : 203.230 us, Update time : 79.764 us, Write time : 9254.370 us + 3.01sWARNros2_control_nodeOverrun might occur, Total time : 9537.364 us (Expected < 1666.667 us) --> Read time : 203.230 us, Update time : 79.764 us, Write time : 9254.370 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053019 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053019 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780495295.13109899 seconds ×3 + 3.66sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780495295.68745875 seconds. ×3 + 3.74sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/moveit_pro_ui/switch_primary_view" + 3.74sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.79sINFOros2_control_node[2026-06-03 14:01:35.812] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-06-03 14:01:35.812] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun might occur, Total time : 1749.455 us (Expected < 1666.667 us) --> Read time : 834.820 us, Update time : 50.523 us, Write time : 864.112 us + 4.05sWARNros2_control_nodeOverrun might occur, Total time : 1749.455 us (Expected < 1666.667 us) --> Read time : 834.820 us, Update time : 50.523 us, Write time : 864.112 us[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031161 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031161 ms (missed cycles : 3).[0m ×2 + 5.08sWARNcontroller_managerOverrun might occur, Total time : 12106.028 us (Expected < 1666.667 us) --> Read time : 195.330 us, Update time : 11340.701 us, Write time : 569.997 us + 5.08sWARNros2_control_nodeOverrun might occur, Total time : 12106.028 us (Expected < 1666.667 us) --> Read time : 195.330 us, Update time : 11340.701 us, Write time : 569.997 us[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.617966 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.617966 ms (missed cycles : 6).[0m ×2 + 6.12sWARNcontroller_managerOverrun might occur, Total time : 1728.614 us (Expected < 1666.667 us) --> Read time : 296.535 us, Update time : 905.504 us, Write time : 526.575 us + 6.12sWARNros2_control_nodeOverrun might occur, Total time : 1728.614 us (Expected < 1666.667 us) --> Read time : 296.535 us, Update time : 905.504 us, Write time : 526.575 us[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.501403 ms (missed cycles : 6). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.501403 ms (missed cycles : 6).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222886 ms (missed cycles : 4). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222886 ms (missed cycles : 4).[0m ×2 + 7.30sWARNcontroller_managerOverrun might occur, Total time : 1903.632 us (Expected < 1666.667 us) --> Read time : 771.237 us, Update time : 71.384 us, Write time : 1061.011 us + 7.30sWARNros2_control_nodeOverrun might occur, Total time : 1903.632 us (Expected < 1666.667 us) --> Read time : 771.237 us, Update time : 71.384 us, Write time : 1061.011 us[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812381 ms (missed cycles : 2). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812381 ms (missed cycles : 2).[0m ×2 + 8.37sWARNcontroller_managerOverrun might occur, Total time : 9841.537 us (Expected < 1666.667 us) --> Read time : 193.609 us, Update time : 9136.394 us, Write time : 511.534 us + 8.37sWARNros2_control_nodeOverrun might occur, Total time : 9841.537 us (Expected < 1666.667 us) --> Read time : 193.609 us, Update time : 9136.394 us, Write time : 511.534 us[0m ×2 + 8.48sINFOobjective_server_node[0;93m2026-06-03 14:01:40.501733349 [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 + 8.48sINFOobjective_server_node[0;93m2026-06-03 14:01:40.501765640 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.08sINFOobjective_server_node[0;93m2026-06-03 14:01:41.100667975 [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 + 9.08sINFOobjective_server_node[0;93m2026-06-03 14:01:41.100710527 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.22sINFOobjective_server_node[0;93m2026-06-03 14:01:41.242114957 [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 + 9.22sINFOobjective_server_node[0;93m2026-06-03 14:01:41.244858800 [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 + 9.22sINFOobjective_server_node[0;93m2026-06-03 14:01:41.244887222 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.334382 ms (missed cycles : 7). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.334382 ms (missed cycles : 7).[0m ×2 + 9.58sINFOobjective_server_node[0;93m2026-06-03 14:01:41.606551877 [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 + 9.60sINFOobjective_server_node[0;93m2026-06-03 14:01:41.625766269 [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 + 9.60sINFOobjective_server_node[0;93m2026-06-03 14:01:41.625804911 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.06sWARNcontroller_managerOverrun might occur, Total time : 2356.924 us (Expected < 1666.667 us) --> Read time : 215.390 us, Update time : 1667.661 us, Write time : 473.873 us + 10.06sWARNros2_control_nodeOverrun might occur, Total time : 2356.924 us (Expected < 1666.667 us) --> Read time : 215.390 us, Update time : 1667.661 us, Write time : 473.873 us[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.718871 ms (missed cycles : 6). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.718871 ms (missed cycles : 6).[0m ×2 + 10.97sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780495302.99235487 seconds ×3 + 11.09sWARNcontroller_managerOverrun might occur, Total time : 1921.333 us (Expected < 1666.667 us) --> Read time : 884.233 us, Update time : 65.703 us, Write time : 971.397 us + 11.09sWARNros2_control_nodeOverrun might occur, Total time : 1921.333 us (Expected < 1666.667 us) --> Read time : 884.233 us, Update time : 65.703 us, Write time : 971.397 us[0m ×2 + 11.32sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/masks_visualization" + 11.32sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/masks_visualization"[0m ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.242452 ms (missed cycles : 7). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.242452 ms (missed cycles : 7).[0m ×2 + 11.57sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780495303.59481454 seconds. ×3 + 11.82sINFOfoxglove_bridgeRemoving channel 73 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 11.82sINFOfoxglove_bridgeRemoving channel 73 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 11.82sINFOfoxglove_bridgeRemoving channel 72 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 11.83sINFOfoxglove_bridgeRemoving channel 72 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 12.14sINFOobjective_server_node[0;93m2026-06-03 14:01:44.163239568 [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 + 12.14sINFOobjective_server_node[0;93m2026-06-03 14:01:44.163281670 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.31sWARNcontroller_managerOverrun might occur, Total time : 9906.402 us (Expected < 1666.667 us) --> Read time : 203.690 us, Update time : 9127.704 us, Write time : 575.008 us + 12.31sWARNros2_control_nodeOverrun might occur, Total time : 9906.402 us (Expected < 1666.667 us) --> Read time : 203.690 us, Update time : 9127.704 us, Write time : 575.008 us[0m ×2 + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415328 ms (missed cycles : 2). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415328 ms (missed cycles : 2).[0m ×2 + 12.63sINFOobjective_server_node[0;93m2026-06-03 14:01:44.652506694 [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 + 12.63sINFOobjective_server_node[0;93m2026-06-03 14:01:44.652548256 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.75sINFOobjective_server_node[0;93m2026-06-03 14:01:44.772553928 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 12.75sINFOobjective_server_node[0;93m2026-06-03 14:01:44.775899751 [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 + 12.75sINFOobjective_server_node[0;93m2026-06-03 14:01:44.775943843 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.12sINFOobjective_server_node[0;93m2026-06-03 14:01:45.141198233 [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 + 13.13sINFOobjective_server_node[0;93m2026-06-03 14:01:45.156495194 [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 + 13.13sINFOobjective_server_node[0;93m2026-06-03 14:01:45.156531356 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.33sWARNcontroller_managerOverrun might occur, Total time : 4894.377 us (Expected < 1666.667 us) --> Read time : 192.640 us, Update time : 4169.572 us, Write time : 532.165 us + 13.33sWARNros2_control_nodeOverrun might occur, Total time : 4894.377 us (Expected < 1666.667 us) --> Read time : 192.640 us, Update time : 4169.572 us, Write time : 532.165 us[0m ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683903 ms (missed cycles : 5). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683903 ms (missed cycles : 5).[0m ×2 + 13.98sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780495306.00191402 seconds ×3 + 14.35sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization" + 14.35sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization"[0m ×2 + 14.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370200 ms (missed cycles : 3). + 14.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370200 ms (missed cycles : 3).[0m ×2 + 14.49sWARNcontroller_managerOverrun might occur, Total time : 2195.186 us (Expected < 1666.667 us) --> Read time : 172.488 us, Update time : 1453.741 us, Write time : 568.957 us + 14.49sWARNros2_control_nodeOverrun might occur, Total time : 2195.186 us (Expected < 1666.667 us) --> Read time : 172.488 us, Update time : 1453.741 us, Write time : 568.957 us[0m ×2 + 14.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780495306.70009637 seconds. ×3 + 14.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2
✓ passed	ML Segment Bottles from File	ml_segment_bottles_from_file.xml	3.0s	54 warnings · 98 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812381 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812381 ms (missed cycles : 2).[0m ×2 + 0.08sWARNcontroller_managerOverrun might occur, Total time : 9841.537 us (Expected < 1666.667 us) --> Read time : 193.609 us, Update time : 9136.394 us, Write time : 511.534 us + 0.08sWARNros2_control_nodeOverrun might occur, Total time : 9841.537 us (Expected < 1666.667 us) --> Read time : 193.609 us, Update time : 9136.394 us, Write time : 511.534 us[0m ×2 + 0.19sINFOobjective_server_node[0;93m2026-06-03 14:01:40.501733349 [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 + 0.19sINFOobjective_server_node[0;93m2026-06-03 14:01:40.501765640 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.78sINFOobjective_server_node[0;93m2026-06-03 14:01:41.100667975 [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 + 0.78sINFOobjective_server_node[0;93m2026-06-03 14:01:41.100710527 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.93sINFOobjective_server_node[0;93m2026-06-03 14:01:41.242114957 [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 + 0.93sINFOobjective_server_node[0;93m2026-06-03 14:01:41.244858800 [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 + 0.93sINFOobjective_server_node[0;93m2026-06-03 14:01:41.244887222 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.334382 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.334382 ms (missed cycles : 7).[0m ×2 + 1.29sINFOobjective_server_node[0;93m2026-06-03 14:01:41.606551877 [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 + 1.31sINFOobjective_server_node[0;93m2026-06-03 14:01:41.625766269 [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 + 1.31sINFOobjective_server_node[0;93m2026-06-03 14:01:41.625804911 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.76sWARNcontroller_managerOverrun might occur, Total time : 2356.924 us (Expected < 1666.667 us) --> Read time : 215.390 us, Update time : 1667.661 us, Write time : 473.873 us + 1.77sWARNros2_control_nodeOverrun might occur, Total time : 2356.924 us (Expected < 1666.667 us) --> Read time : 215.390 us, Update time : 1667.661 us, Write time : 473.873 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.718871 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.718871 ms (missed cycles : 6).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780495302.99235487 seconds ×3 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.79sWARNcontroller_managerOverrun might occur, Total time : 1921.333 us (Expected < 1666.667 us) --> Read time : 884.233 us, Update time : 65.703 us, Write time : 971.397 us + 2.80sWARNros2_control_nodeOverrun might occur, Total time : 1921.333 us (Expected < 1666.667 us) --> Read time : 884.233 us, Update time : 65.703 us, Write time : 971.397 us[0m ×2 + 3.03sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/masks_visualization" + 3.03sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/masks_visualization"[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.242452 ms (missed cycles : 7). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.242452 ms (missed cycles : 7).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780495303.59481454 seconds. ×3 + 3.53sINFOfoxglove_bridgeRemoving channel 73 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 73 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.53sINFOfoxglove_bridgeRemoving channel 72 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.54sINFOfoxglove_bridgeRemoving channel 72 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 3.85sINFOobjective_server_node[0;93m2026-06-03 14:01:44.163239568 [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 + 3.85sINFOobjective_server_node[0;93m2026-06-03 14:01:44.163281670 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 4.02sWARNcontroller_managerOverrun might occur, Total time : 9906.402 us (Expected < 1666.667 us) --> Read time : 203.690 us, Update time : 9127.704 us, Write time : 575.008 us + 4.02sWARNros2_control_nodeOverrun might occur, Total time : 9906.402 us (Expected < 1666.667 us) --> Read time : 203.690 us, Update time : 9127.704 us, Write time : 575.008 us[0m ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415328 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415328 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_node[0;93m2026-06-03 14:01:44.652506694 [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 + 4.34sINFOobjective_server_node[0;93m2026-06-03 14:01:44.652548256 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 4.46sINFOobjective_server_node[0;93m2026-06-03 14:01:44.772553928 [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 + 4.46sINFOobjective_server_node[0;93m2026-06-03 14:01:44.775899751 [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 + 4.46sINFOobjective_server_node[0;93m2026-06-03 14:01:44.775943843 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 4.82sINFOobjective_server_node[0;93m2026-06-03 14:01:45.141198233 [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 + 4.84sINFOobjective_server_node[0;93m2026-06-03 14:01:45.156495194 [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 + 4.84sINFOobjective_server_node[0;93m2026-06-03 14:01:45.156531356 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.04sWARNcontroller_managerOverrun might occur, Total time : 4894.377 us (Expected < 1666.667 us) --> Read time : 192.640 us, Update time : 4169.572 us, Write time : 532.165 us + 5.04sWARNros2_control_nodeOverrun might occur, Total time : 4894.377 us (Expected < 1666.667 us) --> Read time : 192.640 us, Update time : 4169.572 us, Write time : 532.165 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683903 ms (missed cycles : 5). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683903 ms (missed cycles : 5).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780495306.00191402 seconds ×3 + 6.05sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization" + 6.06sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization"[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370200 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370200 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun might occur, Total time : 2195.186 us (Expected < 1666.667 us) --> Read time : 172.488 us, Update time : 1453.741 us, Write time : 568.957 us + 6.20sWARNros2_control_nodeOverrun might occur, Total time : 2195.186 us (Expected < 1666.667 us) --> Read time : 172.488 us, Update time : 1453.741 us, Write time : 568.957 us[0m ×2 + 6.38sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780495306.70009637 seconds. ×3 + 6.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.56sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 6.56sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893387 ms (missed cycles : 5). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893387 ms (missed cycles : 5).[0m ×2 + 7.22sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 7.24sINFOobjective_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 + 7.26sWARNcontroller_managerOverrun might occur, Total time : 2124.443 us (Expected < 1666.667 us) --> Read time : 1604.858 us, Update time : 74.914 us, Write time : 444.671 us + 7.26sWARNros2_control_nodeOverrun might occur, Total time : 2124.443 us (Expected < 1666.667 us) --> Read time : 1604.858 us, Update time : 74.914 us, Write time : 444.671 us[0m ×2 + 7.52sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 7.53sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.57sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution" + 7.58sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution"[0m ×2 + 7.59sINFOros2_control_node[2026-06-03 14:01:47.907] [info] Received new action goal ×2 + 7.59sINFOros2_control_node[2026-06-03 14:01:47.907] [info] Accepted new action goal ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721297 ms (missed cycles : 2). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721297 ms (missed cycles : 2).[0m ×2 + 8.99sWARNcontroller_managerOverrun might occur, Total time : 5693.754 us (Expected < 1666.667 us) --> Read time : 142.946 us, Update time : 4915.348 us, Write time : 635.460 us + 8.99sWARNros2_control_nodeOverrun might occur, Total time : 5693.754 us (Expected < 1666.667 us) --> Read time : 142.946 us, Update time : 4915.348 us, Write time : 635.460 us[0m ×2 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241777 ms (missed cycles : 4). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241777 ms (missed cycles : 4).[0m ×2
✓ passed	Look at Table	look_at_table.xml	2.8s	57 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3958.292 us (Expected < 1666.667 us) --> Read time : 278.193 us, Update time : 3156.174 us, Write time : 523.925 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 3958.292 us (Expected < 1666.667 us) --> Read time : 278.193 us, Update time : 3156.174 us, Write time : 523.925 us[0m ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.940067 ms (missed cycles : 4). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.940067 ms (missed cycles : 4).[0m ×2 + 1.23sWARNcontroller_managerOverrun might occur, Total time : 2020.639 us (Expected < 1666.667 us) --> Read time : 269.954 us, Update time : 738.185 us, Write time : 1012.500 us + 1.23sWARNros2_control_nodeOverrun might occur, Total time : 2020.639 us (Expected < 1666.667 us) --> Read time : 269.954 us, Update time : 738.185 us, Write time : 1012.500 us[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249870 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249870 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780495291.70264292 seconds ×3 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.17sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1980.226 us (Expected < 1666.667 us) --> Read time : 243.401 us, Update time : 1229.170 us, Write time : 507.655 us + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1980.226 us (Expected < 1666.667 us) --> Read time : 243.401 us, Update time : 1229.170 us, Write time : 507.655 us[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868187 ms (missed cycles : 5). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868187 ms (missed cycles : 5).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780495292.26031184 seconds. ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.77sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.77sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sWARNcontroller_managerOverrun might occur, Total time : 4070.457 us (Expected < 1666.667 us) --> Read time : 265.023 us, Update time : 3179.794 us (Switch time : 3129.761 us (Switch chained mode time : 0.430 us, perform mode change time : 5.480 us, Activation time : 3112.461 us, Deactivation time : 0.440 us)), Write time : 625.640 us + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sWARNros2_control_nodeOverrun might occur, Total time : 4070.457 us (Expected < 1666.667 us) --> Read time : 265.023 us, Update time : 3179.794 us (Switch time : 3129.761 us (Switch chained mode time : 0.430 us, perform mode change time : 5.480 us, Activation time : 3112.461 us, Deactivation time : 0.440 us)), Write time : 625.640 us[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780495292.33044457 seconds ×3 + 3.44sWARNcontroller_managerOverrun might occur, Total time : 3257.907 us (Expected < 1666.667 us) --> Read time : 280.263 us, Update time : 2376.365 us, Write time : 601.279 us + 3.44sWARNros2_control_nodeOverrun might occur, Total time : 3257.907 us (Expected < 1666.667 us) --> Read time : 280.263 us, Update time : 2376.365 us, Write time : 601.279 us[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780495292.99093080 seconds. ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791734 ms (missed cycles : 5). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791734 ms (missed cycles : 5).[0m ×2 + 3.56sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.58sINFOros2_control_node[2026-06-03 14:01:33.125] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-06-03 14:01:33.125] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun might occur, Total time : 3919.020 us (Expected < 1666.667 us) --> Read time : 177.689 us, Update time : 3163.223 us, Write time : 578.108 us + 4.49sWARNros2_control_nodeOverrun might occur, Total time : 3919.020 us (Expected < 1666.667 us) --> Read time : 177.689 us, Update time : 3163.223 us, Write time : 578.108 us[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496294 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496294 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun might occur, Total time : 9537.364 us (Expected < 1666.667 us) --> Read time : 203.230 us, Update time : 79.764 us, Write time : 9254.370 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 9537.364 us (Expected < 1666.667 us) --> Read time : 203.230 us, Update time : 79.764 us, Write time : 9254.370 us[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053019 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053019 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780495295.13109899 seconds ×3 + 6.14sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780495295.68745875 seconds. ×3 + 6.23sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/moveit_pro_ui/switch_primary_view" + 6.23sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 6.26sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 6.27sINFOros2_control_node[2026-06-03 14:01:35.812] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-06-03 14:01:35.812] [info] Accepted new action goal ×2 + 6.53sWARNcontroller_managerOverrun might occur, Total time : 1749.455 us (Expected < 1666.667 us) --> Read time : 834.820 us, Update time : 50.523 us, Write time : 864.112 us + 6.53sWARNros2_control_nodeOverrun might occur, Total time : 1749.455 us (Expected < 1666.667 us) --> Read time : 834.820 us, Update time : 50.523 us, Write time : 864.112 us[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031161 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031161 ms (missed cycles : 3).[0m ×2 + 7.56sWARNcontroller_managerOverrun might occur, Total time : 12106.028 us (Expected < 1666.667 us) --> Read time : 195.330 us, Update time : 11340.701 us, Write time : 569.997 us + 7.56sWARNros2_control_nodeOverrun might occur, Total time : 12106.028 us (Expected < 1666.667 us) --> Read time : 195.330 us, Update time : 11340.701 us, Write time : 569.997 us[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.617966 ms (missed cycles : 6). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.617966 ms (missed cycles : 6).[0m ×2 + 8.60sWARNcontroller_managerOverrun might occur, Total time : 1728.614 us (Expected < 1666.667 us) --> Read time : 296.535 us, Update time : 905.504 us, Write time : 526.575 us + 8.61sWARNros2_control_nodeOverrun might occur, Total time : 1728.614 us (Expected < 1666.667 us) --> Read time : 296.535 us, Update time : 905.504 us, Write time : 526.575 us[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.501403 ms (missed cycles : 6). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.501403 ms (missed cycles : 6).[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	2.1s	804 errors · 51 warnings · 906 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×267 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.004176447572249 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×534 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.004176447572249[0m ×2 + 0.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.939161600690319 + 0.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.939161600690319[0m ×2 + 0.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.939161600690294 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.939161600690294[0m ×2 + 0.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.290247123596131 + 0.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.290247123596131[0m ×2 + 0.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.467796617986654 + 0.06sWARNcontroller_managerOverrun might occur, Total time : 3353.833 us (Expected < 1666.667 us) --> Read time : 181.909 us, Update time : 2721.112 us, Write time : 450.812 us + 0.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.467796617986654[0m ×2 + 0.07sWARNros2_control_nodeOverrun might occur, Total time : 3353.833 us (Expected < 1666.667 us) --> Read time : 181.909 us, Update time : 2721.112 us, Write time : 450.812 us[0m ×2 + 0.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.754419941422476 + 0.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.754419941422476[0m ×2 + 0.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.073182871214897 + 0.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.073182871214897[0m ×2 + 0.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.541621760458213 + 0.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.541621760458213[0m ×2 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.991032841376729 + 0.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.991032841376729[0m ×2 + 0.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 38.438389887853134 + 0.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 38.438389887853134[0m ×2 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.154076891972402 + 0.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.154076891972402[0m ×2 + 0.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.878099261972224 + 0.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.878099261972224[0m ×2 + 0.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.234641188341037 + 0.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.234641188341037[0m ×2 + 0.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.784785321682154 + 0.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.784785321682154[0m ×2 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.310717985376296 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.310717985376296[0m ×2 + 0.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.363596338422740 + 0.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.363596338422740[0m ×2 + 0.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.503079256204916 + 0.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.503079256204916[0m ×2 + 0.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.697433242978397 + 0.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.697433242978397[0m ×2 + 0.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.922351742842466 + 0.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.922351742842466[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.243126792069694 + 0.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.243126792069694[0m ×2 + 0.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.243126792069956 + 0.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.243126792069956[0m ×2 + 0.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.848673603895099 + 0.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.848673603895099[0m ×2 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.207226507098078 + 0.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.207226507098078[0m ×2 + 0.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.604744967332293 + 0.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.604744967332293[0m ×2 + 0.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.022713374117377 + 0.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.022713374117377[0m ×2 + 0.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.440839671423115 + 0.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.440839671423115[0m ×2 + 0.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.499748048728105 + 0.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.499748048728105[0m ×2 + 0.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.824560545959386 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.824560545959386[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.356955250080915 + 0.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.356955250080915[0m ×2 + 0.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.756841242032174 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.756841242032174[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.137560988443163 + 0.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.137560988443163[0m ×2 + 0.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.725805758441599 + 0.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.725805758441599[0m ×2 + 0.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.062860071039083 + 0.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.062860071039083[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.479054931362796 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.479054931362796[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.717012 ms (missed cycles : 6). + 0.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.999171192825969 + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.717012 ms (missed cycles : 6).[0m ×2 + 0.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.999171192825969[0m ×2 + 0.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.483926733611028 + 0.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.483926733611028[0m ×2 + 0.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.459878089506986 + 0.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.459878089506986[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.931988633828176 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.931988633828176[0m ×2 + 0.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.339598001488802 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.339598001488802[0m ×2 + 0.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.982730157250110 + 0.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.982730157250110[0m ×2 + 0.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.467913409294777 + 0.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.467913409294777[0m ×2 + 0.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.079373610618821 + 0.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.079373610618821[0m ×2 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.121659193488583 + 0.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.121659193488583[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.131293618389304 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.131293618389304[0m ×2 + 0.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.884588547583244 + 0.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.884588547583244[0m ×2 + 0.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.173247703236564 + 0.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.173247703236564[0m ×2 + 0.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.586923730830032 + 0.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.586923730830032[0m ×2 + 0.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.023127874773815 + 0.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.023127874773815[0m ×2 + 0.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.479685727601638 + 0.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.479685727601638[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.020285293316824 ×2 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.020285293316824[0m ×4 + 0.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.271502626213740 + 0.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.271502626213740[0m ×2 + 0.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.777822487199586 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.777822487199586[0m ×2 + 0.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.154273079169734 + 0.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.154273079169734[0m ×2 + 0.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.585975651880858 + 0.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.585975651880858[0m ×2 + 0.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.036856573817101 + 0.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.036856573817101[0m ×2 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.899642477470397 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.899642477470397[0m ×2 + 0.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.148606202617035 + 0.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.148606202617035[0m ×2 + 0.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.571207652209178 + 0.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.571207652209178[0m ×2 + 0.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.130541441442507 + 0.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.130541441442507[0m ×2 + 0.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.503285421392171 + 0.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.503285421392171[0m ×2 + 0.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.582785145349682 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.582785145349682[0m ×2 + 0.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.743413746199874 + 0.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.743413746199874[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.953189393902431 + 0.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.953189393902431[0m ×2 + 0.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.754893025975200 + 0.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.754893025975200[0m ×2 + 0.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.614268780963308 + 0.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.614268780963308[0m ×2 + 0.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.216277014791612 + 0.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.216277014791612[0m ×2 + 0.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.762010865996265 + 0.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.762010865996265[0m ×2 + 0.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.291822003653929 + 0.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.291822003653929[0m ×2 + 0.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.932766336321603 + 0.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.932766336321603[0m ×2 + 0.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.605638442249724 + 0.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.605638442249724[0m ×2 + 0.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.435429183381725 + 0.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.435429183381725[0m ×2 + 0.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.055965320660379 + 0.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.055965320660379[0m ×2 + 0.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028494919577304 + 0.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028494919577304[0m ×2 + 0.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016379786687890 + 0.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016379786687890[0m ×2 + 0.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027577732482279 + 0.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027577732482279[0m ×2 + 0.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044060877710446 + 0.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044060877710446[0m ×2 + 0.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.788885703621469 + 0.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.788885703621469[0m ×2 + 1.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.118201980087171 + 1.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.118201980087171[0m ×2 + 1.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.576097432747220 + 1.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.576097432747220[0m ×2 + 1.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.864879822296178 + 1.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.864879822296178[0m ×2 + 1.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.528455327450231 + 1.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.528455327450231[0m ×2 + 1.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.153371555606963 + 1.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.153371555606963[0m ×2 + 1.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.538485947795003 + 1.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.538485947795003[0m ×2 + 1.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.888273289582319 + 1.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.888273289582319[0m ×2 + 1.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.393376027080517 + 1.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.393376027080517[0m ×2 + 1.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.797569740696630 + 1.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.797569740696630[0m ×2 + 1.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.053180708114578 + 1.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.053180708114578[0m ×2 + 1.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.276002982102607 + 1.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.276002982102607[0m ×2 + 1.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.354310338816937 + 1.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.354310338816937[0m ×2 + 1.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.100841736457031 + 1.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.100841736457031[0m ×2 + 1.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.354057689663978 + 1.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.354057689663978[0m ×2 + 1.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.432647601267938 + 1.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.432647601267938[0m ×2 + 1.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.826795954304416 + 1.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.826795954304416[0m ×2 + 1.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.221022928475456 + 1.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.221022928475456[0m ×2 + 1.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.666200048898776 + 1.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.666200048898776[0m ×2 + 1.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.206261859264487 + 1.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.206261859264487[0m ×2 + 1.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.603193514888840 + 1.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.603193514888840[0m ×2 + 1.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.210980035083704 + 1.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.210980035083704[0m ×2 + 1.25sWARNcontroller_managerOverrun might occur, Total time : 1838.559 us (Expected < 1666.667 us) --> Read time : 277.383 us, Update time : 82.874 us, Write time : 1478.302 us + 1.26sWARNros2_control_nodeOverrun might occur, Total time : 1838.559 us (Expected < 1666.667 us) --> Read time : 277.383 us, Update time : 82.874 us, Write time : 1478.302 us[0m ×2 + 1.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.743983313305616 + 1.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.743983313305616[0m ×2 + 1.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.872344046669774 + 1.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.872344046669774[0m ×2 + 1.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.875322221865289 + 1.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.875322221865289[0m ×2 + 1.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.586204088085839 + 1.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.586204088085839[0m ×2 + 1.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.214119792421833 + 1.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.214119792421833[0m ×2 + 1.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.723501709954822 + 1.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.723501709954822[0m ×2 + 1.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.343580327983303 + 1.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.343580327983303[0m ×2 + 1.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.767735536296703 + 1.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.767735536296703[0m ×2 + 1.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.450099382975369 + 1.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.450099382975369[0m ×2 + 1.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.980719347472496 + 1.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.980719347472496[0m ×2 + 1.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.603311071354822 + 1.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.603311071354822[0m ×2 + 1.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.277875580532233 + 1.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.277875580532233[0m ×2 + 1.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.237991273827342 + 1.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.237991273827342[0m ×2 + 1.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.550462674025915 + 1.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.550462674025915[0m ×2 + 1.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.986703133637801 + 1.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.986703133637801[0m ×2 + 1.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.434536007979361 + 1.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.434536007979361[0m ×2 + 1.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.799546525303983 + 1.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.799546525303983[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298741 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298741 ms (missed cycles : 3).[0m ×2 + 1.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.310810547844694 + 1.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.310810547844694[0m ×2 + 1.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.680921933137979 + 1.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.680921933137979[0m ×2 + 1.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.269136909889284 + 1.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.269136909889284[0m ×2 + 1.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.546495374538768 + 1.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.546495374538768[0m ×2 + 1.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.055576121978508 + 1.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.055576121978508[0m ×2 + 1.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.425635864574431 + 1.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.425635864574431[0m ×2 + 1.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.644916688341418 + 1.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.644916688341418[0m ×2 + 1.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.564638785463170 + 1.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.564638785463170[0m ×2 + 1.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.449538028934569 + 1.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.449538028934569[0m ×2 + 1.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.880370079356506 + 1.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.880370079356506[0m ×2 + 1.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.434434252138637 + 1.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.434434252138637[0m ×2 + 1.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.747584762468371 + 1.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.747584762468371[0m ×2 + 1.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.283324369939237 + 1.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.283324369939237[0m ×2 + 1.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.845644379165439 + 1.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.845644379165439[0m ×2 + 1.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.042193558608247 + 1.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.042193558608247[0m ×2 + 1.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.960096285269884 + 1.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.960096285269884[0m ×2 + 1.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.664650273816313 + 1.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.664650273816313[0m ×2 + 1.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.056694039432905 + 1.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.056694039432905[0m ×2 + 1.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.402677640062048 + 1.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.402677640062048[0m ×2 + 1.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.742843672799585 + 1.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.742843672799585[0m ×2 + 1.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.203127560926849 + 1.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.203127560926849[0m ×2 + 1.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.245430182068580 + 1.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.245430182068580[0m ×2 + 1.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.047239055653632 + 1.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.047239055653632[0m ×2 + 1.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.551345229227429 ×2 + 1.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.551345229227429[0m ×4 + 1.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.000213148146504 + 1.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.000213148146504[0m ×2 + 1.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.362191655991584 + 1.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.362191655991584[0m ×2 + 1.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.916472875613323 + 1.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.916472875613323[0m ×2 + 1.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.066766461984606 + 1.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.066766461984606[0m ×2 + 1.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.066766461984592 + 1.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.066766461984592[0m ×2 + 1.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.511854628828697 + 1.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.511854628828697[0m ×2 + 1.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.988634030814598 + 1.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.988634030814598[0m ×2 + 1.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.411977981438255 + 1.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.411977981438255[0m ×2 + 1.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.779340552419441 + 1.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.779340552419441[0m ×2 + 1.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.221725514064318 + 1.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.221725514064318[0m ×2 + 1.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.623063189328459 + 1.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.623063189328459[0m ×2 + 1.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.465077776582007 + 1.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.465077776582007[0m ×2 + 1.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.929388037072044 + 1.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.929388037072044[0m ×2 + 1.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.443675153808165 + 1.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.443675153808165[0m ×2 + 1.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.908705554296713 + 1.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.908705554296713[0m ×2 + 1.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.627333717523818 + 1.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.627333717523818[0m ×2 + 1.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.214130444251332 + 1.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.214130444251332[0m ×2 + 2.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.945918696754941 + 2.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.945918696754941[0m ×2 + 2.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.144212669254255 + 2.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.144212669254255[0m ×2 + 2.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.945816681646551 + 2.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.945816681646551[0m ×2 + 2.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.273738248397343 + 2.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.273738248397343[0m ×2 + 2.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.667954946001565 + 2.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.667954946001565[0m ×2 + 2.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.252066706614194 + 2.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.252066706614194[0m ×2 + 2.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.456213744499252 + 2.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.456213744499252[0m ×2 + 2.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.968771643892735 + 2.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.968771643892735[0m ×2 + 2.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.461301042902917 + 2.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.461301042902917[0m ×2 + 2.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.875522539135318 + 2.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.875522539135318[0m ×2 + 2.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.293815311741202 + 2.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.293815311741202[0m ×2 + 2.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.713304774683589 + 2.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.713304774683589[0m ×2 + 2.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.304251968956780 + 2.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.304251968956780[0m ×2 + 2.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.600827195345143 + 2.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.600827195345143[0m ×2 + 2.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.600827195345076 + 2.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.600827195345076[0m ×2 + 2.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.086951612402562 + 2.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.086951612402562[0m ×2 + 2.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.499286998143123 + 2.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.499286998143123[0m ×2 + 2.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.300188840557535 + 2.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.300188840557535[0m ×2 + 2.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.688459797915645 + 2.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.688459797915645[0m ×2 + 2.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.039211086766116 + 2.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.039211086766116[0m ×2 + 2.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.603776634761438 + 2.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.603776634761438[0m ×2 + 2.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.778926814304198 + 2.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.778926814304198[0m ×2 + 2.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.267224385280327 + 2.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.267224385280327[0m ×2 + 2.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.898890886774573 + 2.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.898890886774573[0m ×2 + 2.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.482463915582499 + 2.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.482463915582499[0m ×2 + 2.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.008198678280089 + 2.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.008198678280089[0m ×2 + 2.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.584086795252185 + 2.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.584086795252185[0m ×2 + 2.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.802154231744294 + 2.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.802154231744294[0m ×2 + 2.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.300573319978437 + 2.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.300573319978437[0m ×2 + 2.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.746447763283083 ×2 + 2.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.746447763283083[0m ×4 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1756.705 us (Expected < 1666.667 us) --> Read time : 242.862 us, Update time : 495.404 us, Write time : 1018.439 us + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1756.705 us (Expected < 1666.667 us) --> Read time : 242.862 us, Update time : 495.404 us, Write time : 1018.439 us[0m ×2 + 2.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.040184652384609 + 2.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.040184652384609[0m ×2 + 2.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.823619404785472 + 2.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.823619404785472[0m ×2 + 2.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.208383254609489 + 2.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.208383254609489[0m ×2 + 2.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.732464094282294 + 2.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.732464094282294[0m ×2 + 2.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.165363413997726 + 2.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.165363413997726[0m ×2 + 2.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.538702823540504 + 2.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.538702823540504[0m ×2 + 2.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.005619167278805 + 2.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.005619167278805[0m ×2 + 2.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.022232363833295 + 2.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.022232363833295[0m ×2 + 2.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.506174905902913 + 2.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.506174905902913[0m ×2 + 2.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.809547358829402 + 2.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.809547358829402[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229714 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229714 ms (missed cycles : 2).[0m ×2 + 2.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.809547358829416 + 2.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.809547358829416[0m ×2 + 2.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.062828108993624 + 2.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.062828108993624[0m ×2 + 2.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.562436613504026 + 2.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.562436613504026[0m ×2 + 2.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.562436613504065 + 2.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.562436613504065[0m ×2 + 2.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.001207462333479 + 2.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.001207462333479[0m ×2 + 2.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.377712273445411 + 2.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.377712273445411[0m ×2 + 2.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.882639841654278 + 2.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.882639841654278[0m ×2 + 2.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.679508102066261 + 2.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.679508102066261[0m ×2 + 2.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.181609752476913 + 2.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.181609752476913[0m ×2 + 2.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.565953453216112 + 2.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.565953453216112[0m ×2 + 2.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.145074119538804 + 2.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.145074119538804[0m ×2 + 2.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.433346850413337 + 2.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.433346850413337[0m ×2 + 2.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.873211140719437 + 2.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.873211140719437[0m ×2 + 2.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.717184619436940 + 2.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.717184619436940[0m ×2 + 2.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.266957599222433 + 2.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.266957599222433[0m ×2 + 2.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.560392794535442 + 2.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.560392794535442[0m ×2 + 2.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.975619179366491 + 2.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.975619179366491[0m ×2 + 2.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.435230559289614 + 2.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.435230559289614[0m ×2 + 2.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.878095421085209 + 2.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.878095421085209[0m ×2 + 2.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.878095421085220 + 2.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.878095421085220[0m ×2 + 2.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.740939766890349 + 2.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.740939766890349[0m ×2 + 2.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.285370123107626 + 2.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.285370123107626[0m ×2 + 2.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.017767847256319 + 2.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.017767847256319[0m ×2 + 2.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.456112878620182 + 2.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.456112878620182[0m ×2 + 2.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.014348244817793 + 2.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.014348244817793[0m ×2 + 2.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.561209959988279 + 2.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.561209959988279[0m ×2 + 2.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.202702278332815 ×2 + 2.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.202702278332815[0m ×4 + 2.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.688565527634470 + 2.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.688565527634470[0m ×2 + 2.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.277121351289658 + 2.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.277121351289658[0m ×2 + 2.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.017266176932612 + 2.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.017266176932612[0m ×2 + 2.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.767427309612232 + 2.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.767427309612232[0m ×2 + 2.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.569035840389988 + 2.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.569035840389988[0m ×2 + 2.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.058744810138219 + 2.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.058744810138219[0m ×2 + 2.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.372355558806850 + 2.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.372355558806850[0m ×2 + 2.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.863803355917058 + 2.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.863803355917058[0m ×2 + 2.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.307608942726135 + 2.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.307608942726135[0m ×2 + 2.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.653206680139460 + 2.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.653206680139460[0m ×2 + 2.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.178170549394650 + 2.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.178170549394650[0m ×2 + 2.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.980743525557227 + 2.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.980743525557227[0m ×2 + 2.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.126384477987969 + 2.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.126384477987969[0m ×2 + 2.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.942037785339359 + 2.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.942037785339359[0m ×2 + 2.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.231100440471756 + 2.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.231100440471756[0m ×2 + 2.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.231100440471700 + 2.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.231100440471700[0m ×2 + 3.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.687818290730604 + 3.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.687818290730604[0m ×2 + 3.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.512256687374745 + 3.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.512256687374745[0m ×2 + 3.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.363090278165689 + 3.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.363090278165689[0m ×2 + 3.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.776148118216877 + 3.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.776148118216877[0m ×2 + 3.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.204188277579476 + 3.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.204188277579476[0m ×2 + 3.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.634494470365084 + 3.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.634494470365084[0m ×2 + 3.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.331923259010637 + 3.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.331923259010637[0m ×2 + 3.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.778825731005050 + 3.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.778825731005050[0m ×2 + 3.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.519075834106822 + 3.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.519075834106822[0m ×2 + 3.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.808343096897097 + 3.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.808343096897097[0m ×2 + 3.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.768697720144945 + 3.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.768697720144945[0m ×2 + 3.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.953529885856611 + 3.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.953529885856611[0m ×2 + 3.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.284734004780118 + 3.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.284734004780118[0m ×2 + 3.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.642490429321137 + 3.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.642490429321137[0m ×2 + 3.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.081976206067418 + 3.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.081976206067418[0m ×2 + 3.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.534724800511253 + 3.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.534724800511253[0m ×2 + 3.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.980964349394663 + 3.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.980964349394663[0m ×2 + 3.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.420910755734056 + 3.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.420910755734056[0m ×2 + 3.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.975848508557435 ×2 + 3.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.975848508557435[0m ×4 + 3.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.280820602929420 + 3.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.280820602929420[0m ×2 + 3.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.711793668963400 + 3.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.711793668963400[0m ×2 + 3.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.139033599699818 + 3.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.139033599699818[0m ×2 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780495392.35310864 seconds ×3 + 3.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.595236788440520 + 3.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.595236788440520[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 5543.649 us (Expected < 1666.667 us) --> Read time : 193.669 us, Update time : 4780.962 us, Write time : 569.018 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 5543.649 us (Expected < 1666.667 us) --> Read time : 193.669 us, Update time : 4780.962 us, Write time : 569.018 us[0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288403 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288403 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780495393.02973104 seconds. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.10sINFOros2_control_node[2026-06-03 14:03:13.183] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-06-03 14:03:13.183] [info] Accepted new action goal ×2 + 4.15sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 4.21sINFOobjective_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 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.918700 ms (missed cycles : 6). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.918700 ms (missed cycles : 6).[0m ×2 + 4.87sWARNcontroller_managerOverrun might occur, Total time : 2263.449 us (Expected < 1666.667 us) --> Read time : 370.628 us, Update time : 532.586 us, Write time : 1360.235 us + 4.87sWARNros2_control_nodeOverrun might occur, Total time : 2263.449 us (Expected < 1666.667 us) --> Read time : 370.628 us, Update time : 532.586 us, Write time : 1360.235 us[0m ×2 + 5.36sERRORobjective_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 + 5.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780495394.43885612 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126467 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126467 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780495395.03163338 seconds. ×3 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.12sWARNcontroller_managerOverrun might occur, Total time : 1799.467 us (Expected < 1666.667 us) --> Read time : 542.106 us, Update time : 147.487 us, Write time : 1109.874 us + 6.12sWARNros2_control_nodeOverrun might occur, Total time : 1799.467 us (Expected < 1666.667 us) --> Read time : 542.106 us, Update time : 147.487 us, Write time : 1109.874 us[0m ×2 + 6.13sINFOros2_control_node[2026-06-03 14:03:15.213] [info] Received new action goal ×2 + 6.13sINFOros2_control_node[2026-06-03 14:03:15.215] [info] Accepted new action goal ×2 + 6.42sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view" + 6.42sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999008 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999008 ms (missed cycles : 3).[0m ×2 + 7.16sWARNcontroller_managerOverrun might occur, Total time : 2365.455 us (Expected < 1666.667 us) --> Read time : 311.175 us, Update time : 1308.144 us, Write time : 746.136 us + 7.16sWARNros2_control_nodeOverrun might occur, Total time : 2365.455 us (Expected < 1666.667 us) --> Read time : 311.175 us, Update time : 1308.144 us, Write time : 746.136 us[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628035 ms (missed cycles : 4). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628035 ms (missed cycles : 4).[0m ×2 + 8.23sWARNcontroller_managerOverrun might occur, Total time : 3316.401 us (Expected < 1666.667 us) --> Read time : 194.770 us, Update time : 2665.949 us, Write time : 455.682 us + 8.23sWARNros2_control_nodeOverrun might occur, Total time : 3316.401 us (Expected < 1666.667 us) --> Read time : 194.770 us, Update time : 2665.949 us, Write time : 455.682 us[0m ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200081 ms (missed cycles : 4). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200081 ms (missed cycles : 4).[0m ×2 + 8.99sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 9.01sINFOros2_control_node[2026-06-03 14:03:18.090] [info] Received new action goal ×2 + 9.01sINFOros2_control_node[2026-06-03 14:03:18.090] [info] Accepted new action goal ×2
✓ passed	Close Gripper	close_gripper.xml	1.6s	8 errors · 70 warnings · 473 info
+ 0.00sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.00sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.00sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.00sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.00sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.00sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.00sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.00sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.00sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.00sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.00sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.00sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725447 ms (missed cycles : 2). + 0.00sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725447 ms (missed cycles : 2).[0m ×2 + 0.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.11sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.11sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.11sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.11sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.12sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 0.12sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.14sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' ×2 + 0.14sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×4 + 0.14sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×2 + 0.15sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.15sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.16sINFOobjective_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 + 0.16sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.18sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.18sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.18sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.18sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.18sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.18sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.18sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.18sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.44sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.44sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.44sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 0.45sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 0.50sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/points" + 0.50sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/points"[0m ×2 + 0.50sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/depth" + 0.50sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/wrist_camera/color" + 0.50sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/depth"[0m ×2 + 0.50sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/wrist_camera/color"[0m ×2 + 0.52sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.52sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.52sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.52sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.52sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.52sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/visual_markers" + 0.52sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/visual_markers"[0m ×2 + 0.52sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.52sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.53sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/transient_monitored_planning_scene_without_octomap" + 0.53sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/scene_camera/depth" + 0.53sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/color" + 0.53sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.53sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.53sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/transient_monitored_planning_scene_without_octomap"[0m ×2 + 0.53sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/scene_camera/depth"[0m ×2 + 0.53sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/color"[0m ×2 + 0.53sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.53sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.53sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/scene_camera/camera_info" + 0.53sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/scene_camera/points" + 0.53sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.53sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/scene_camera/camera_info"[0m ×2 + 0.54sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/scene_camera/points"[0m ×2 + 0.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 0.54sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 0.54sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 0.54sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.54sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/wrist_camera/camera_info" + 0.54sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_trajectory_controller/transition_event" + 0.54sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/blackboard_contents" + 0.54sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 0.55sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/wrist_camera/camera_info"[0m ×2 + 0.55sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 0.55sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/blackboard_contents"[0m ×2 + 0.55sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/behavior_tree_status" + 0.55sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/force_torque_sensor_broadcaster/wrench" + 0.55sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/behavior_tree_status"[0m ×2 + 0.55sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 0.58sWARNobjective_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 + 0.72sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 0.78sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 0.78sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 0.85sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.85sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.86sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.86sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.86sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.86sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.87sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.87sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 0.87sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 0.87sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.87sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 25124] ×2 + 0.91sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.91sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.91sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.91sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.91sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.91sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.91sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.91sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.91sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.91sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.92sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.92sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.93sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.97sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796346 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796346 ms (missed cycles : 3).[0m ×2 + 1.03sINFOmove_group ×4 + 1.03sINFOmove_group[92mYou can start planning now![0m ×2 + 1.22sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.22sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.22sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.22sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.22sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 1.22sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 1.23sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.23sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 25123] ×2 + 1.27sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 1.27sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.27sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.27sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.27sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.28sWARNcontroller_managerOverrun might occur, Total time : 3981.553 us (Expected < 1666.667 us) --> Read time : 214.060 us, Update time : 3262.168 us (Switch time : 3180.864 us (Switch chained mode time : 0.370 us, perform mode change time : 2.150 us, Activation time : 3170.533 us, Deactivation time : 0.340 us)), Write time : 505.325 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 3981.553 us (Expected < 1666.667 us) --> Read time : 214.060 us, Update time : 3262.168 us (Switch time : 3180.864 us (Switch chained mode time : 0.370 us, perform mode change time : 2.150 us, Activation time : 3170.533 us, Deactivation time : 0.340 us)), Write time : 505.325 us[0m ×2 + 1.28sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 1.33sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/trajectory_execution_event" + 1.33sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/robotiq_gripper_controller/transition_event" + 1.33sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/trajectory_execution_event"[0m ×2 + 1.33sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 1.34sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_controller/speed_scaling_input" + 1.34sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 1.34sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_controller/joint_trajectory" + 1.34sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 1.35sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/controller_state" + 1.35sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_state_broadcaster/transition_event" + 1.35sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 1.35sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 1.35sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/dynamic_joint_states" + 1.35sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/dynamic_joint_states"[0m ×2 + 1.61sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.61sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.61sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.61sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 25122] ×2 + 1.74sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 1.74sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 1.78sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 1.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 1.78sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.78sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.78sINFOros2_control_node[2026-06-03 13:59:58.832] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.78sINFOros2_control_node[2026-06-03 13:59:58.832] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.79sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.82sINFOros2_control_node[2026-06-03 13:59:58.866] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.82sINFOros2_control_node[2026-06-03 13:59:58.866] [info] Controller state will be published at 50 Hz. ×2 + 1.82sINFOros2_control_node[2026-06-03 13:59:58.872] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.07sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_trajectory_admittance_controller/transition_event" + 2.07sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_trajectory_admittance_controller/controller_state" + 2.07sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 2.08sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 25126] ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540280 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540280 ms (missed cycles : 3).[0m ×2 + 2.14sWARNspawner_force_torque_sensor_broadcasterController already loaded, skipping load_controller + 2.14sWARNros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterController already loaded, skipping load_controller ×2 + 2.14sERRORcontroller_managerController 'force_torque_sensor_broadcaster' can not be configured from 'active' state. + 2.15sERRORros2_control_nodeController 'force_torque_sensor_broadcaster' can not be configured from 'active' state.[0m ×2 + 2.15sERRORspawner_force_torque_sensor_broadcasterFailed to configure controller + 2.15sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterFailed to configure controller ×2 + 2.21sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.26sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 2.49sWARNcontroller_managerOverrun might occur, Total time : 1819.268 us (Expected < 1666.667 us) --> Read time : 322.495 us, Update time : 110.636 us, Write time : 1386.137 us + 2.49sWARNros2_control_nodeOverrun might occur, Total time : 1819.268 us (Expected < 1666.667 us) --> Read time : 322.495 us, Update time : 110.636 us, Write time : 1386.137 us[0m ×2 + 2.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[ros2run]: Process exited with failure 1 ×2 + 2.57sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.57sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.57sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.57sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.58sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has died [pid 25121, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. ×2 + 2.66sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 2.66sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 2.71sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 2.71sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.71sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.75sINFOros2_control_node[2026-06-03 13:59:59.797] [info] Controller state will be published at 10 Hz. ×2 + 2.75sINFOros2_control_node[2026-06-03 13:59:59.798] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780495199.92688251 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780495199.93748236 seconds ×3 + 3.02sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 3.02sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.02sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 3.02sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 25128] ×2 + 3.11sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 3.11sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 3.15sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/velocity_force_controller/controller_state" + 3.15sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/velocity_force_controller/controller_state"[0m ×2 + 3.15sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/velocity_force_controller/command" + 3.15sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_velocity_controller/transition_event" + 3.15sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 3.15sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/transition_event" + 3.15sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/velocity_force_controller/command"[0m ×2 + 3.16sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 3.16sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/transition_event"[0m ×2 + 3.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 3.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.16sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/agent_event" + 3.16sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/agent_event"[0m ×2 + 3.20sINFOros2_control_node[2026-06-03 14:00:00.247] [info] Controller state will be published at 20 Hz. ×2 + 3.20sINFOros2_control_node[2026-06-03 14:00:00.248] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272356 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272356 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780495200.50507331 seconds. ×3 + 3.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 25131] ×2 + 3.78sINFOfoxglove_bridgeRemoving channel 63 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.78sINFOfoxglove_bridgeRemoving channel 63 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.78sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_velocity_controller/controller_state" + 3.78sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_velocity_controller/command" + 3.78sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 3.78sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_velocity_controller/command"[0m ×2 + 4.00sWARNcontroller_managerOverrun might occur, Total time : 1735.604 us (Expected < 1666.667 us) --> Read time : 711.374 us, Update time : 89.974 us, Write time : 934.256 us + 4.00sWARNros2_control_nodeOverrun might occur, Total time : 1735.604 us (Expected < 1666.667 us) --> Read time : 711.374 us, Update time : 89.974 us, Write time : 934.256 us[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880889 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880889 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780495201.56525326 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 5.10sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 5.10sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 6.39sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 6.39sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 6.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 6.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 7.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 7.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 7.56sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 7.56sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 8.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 8.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 8.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 8.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 8.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 8.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 8.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 8.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 8.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 8.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 8.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 8.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 8.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 8.12sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 8.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 8.12sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 8.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 8.59sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 8.59sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2
✓ passed	Open Gripper	open_gripper.xml	1.6s	8 errors · 51 warnings · 245 info
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 25122] ×2 + 0.12sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 0.12sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 0.17sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 0.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.17sINFOros2_control_node[2026-06-03 13:59:58.832] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.17sINFOros2_control_node[2026-06-03 13:59:58.832] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.20sINFOros2_control_node[2026-06-03 13:59:58.866] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.21sINFOros2_control_node[2026-06-03 13:59:58.866] [info] Controller state will be published at 50 Hz. ×2 + 0.21sINFOros2_control_node[2026-06-03 13:59:58.872] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.46sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_trajectory_admittance_controller/transition_event" + 0.46sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.46sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 0.46sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 25126] ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540280 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540280 ms (missed cycles : 3).[0m ×2 + 0.53sWARNspawner_force_torque_sensor_broadcasterController already loaded, skipping load_controller + 0.53sWARNros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterController already loaded, skipping load_controller ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.53sERRORcontroller_managerController 'force_torque_sensor_broadcaster' can not be configured from 'active' state. + 0.53sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.53sERRORros2_control_nodeController 'force_torque_sensor_broadcaster' can not be configured from 'active' state.[0m ×2 + 0.53sERRORspawner_force_torque_sensor_broadcasterFailed to configure controller + 0.53sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterFailed to configure controller ×2 + 0.60sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.64sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.87sWARNcontroller_managerOverrun might occur, Total time : 1819.268 us (Expected < 1666.667 us) --> Read time : 322.495 us, Update time : 110.636 us, Write time : 1386.137 us + 0.87sWARNros2_control_nodeOverrun might occur, Total time : 1819.268 us (Expected < 1666.667 us) --> Read time : 322.495 us, Update time : 110.636 us, Write time : 1386.137 us[0m ×2 + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[ros2run]: Process exited with failure 1 ×2 + 0.95sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.95sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.95sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.97sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has died [pid 25121, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. ×2 + 1.05sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 1.05sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 1.10sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.14sINFOros2_control_node[2026-06-03 13:59:59.797] [info] Controller state will be published at 10 Hz. ×2 + 1.14sINFOros2_control_node[2026-06-03 13:59:59.798] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780495199.92688251 seconds. ×3 + 1.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780495199.93748236 seconds ×3 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 25128] ×2 + 1.49sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv + 1.49sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wsar37z3 --params-file /tmp/launch_params_j0v87lfy --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_drwybmy5 --params-file /tmp/launch_params_n5og09mv [0m ×2 + 1.54sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/velocity_force_controller/controller_state" + 1.54sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/velocity_force_controller/controller_state"[0m ×2 + 1.54sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/velocity_force_controller/command" + 1.54sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_velocity_controller/transition_event" + 1.54sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.54sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/transition_event" + 1.54sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/velocity_force_controller/command"[0m ×2 + 1.54sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 1.54sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/transition_event"[0m ×2 + 1.54sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.54sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.55sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/agent_event" + 1.55sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/agent_event"[0m ×2 + 1.59sINFOros2_control_node[2026-06-03 14:00:00.247] [info] Controller state will be published at 20 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-03 14:00:00.248] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272356 ms (missed cycles : 3). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272356 ms (missed cycles : 3).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780495200.50507331 seconds. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 25131] ×2 + 2.16sINFOfoxglove_bridgeRemoving channel 63 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.16sINFOfoxglove_bridgeRemoving channel 63 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.16sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_velocity_controller/controller_state" + 2.16sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_velocity_controller/command" + 2.16sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 2.17sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_velocity_controller/command"[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 1735.604 us (Expected < 1666.667 us) --> Read time : 711.374 us, Update time : 89.974 us, Write time : 934.256 us + 2.38sWARNros2_control_nodeOverrun might occur, Total time : 1735.604 us (Expected < 1666.667 us) --> Read time : 711.374 us, Update time : 89.974 us, Write time : 934.256 us[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880889 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880889 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780495201.56525326 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 3.48sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 4.77sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 5.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 5.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 5.95sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 5.95sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 6.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 6.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.51sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 6.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.51sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 6.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 6.98sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 6.98sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 7.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 7.12sINFOobjective_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 + 7.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.23sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 7.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.25sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 7.25sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 8.07sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 8.07sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 8.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.1s	3 errors · 51 warnings · 68 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5271.206 us (Expected < 1666.667 us) --> Read time : 217.690 us, Update time : 112.636 us, Write time : 4940.880 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5271.206 us (Expected < 1666.667 us) --> Read time : 217.690 us, Update time : 112.636 us, Write time : 4940.880 us[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.443286 ms (missed cycles : 7). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.443286 ms (missed cycles : 7).[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 5612.082 us (Expected < 1666.667 us) --> Read time : 192.609 us, Update time : 4786.363 us, Write time : 633.110 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 5612.082 us (Expected < 1666.667 us) --> Read time : 192.609 us, Update time : 4786.363 us, Write time : 633.110 us[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228351 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228351 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun might occur, Total time : 2124.393 us (Expected < 1666.667 us) --> Read time : 241.111 us, Update time : 1463.281 us, Write time : 420.001 us + 2.17sWARNros2_control_nodeOverrun might occur, Total time : 2124.393 us (Expected < 1666.667 us) --> Read time : 241.111 us, Update time : 1463.281 us, Write time : 420.001 us[0m ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722645 ms (missed cycles : 3). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722645 ms (missed cycles : 3).[0m ×2 + 3.26sINFOros2_control_node[2026-06-03 14:05:11.845] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-06-03 14:05:11.845] [info] Canceling active goal... ×2 + 3.27sWARNcontroller_managerOverrun might occur, Total time : 2251.058 us (Expected < 1666.667 us) --> Read time : 208.230 us, Update time : 1549.725 us, Write time : 493.103 us + 3.27sWARNros2_control_nodeOverrun might occur, Total time : 2251.058 us (Expected < 1666.667 us) --> Read time : 208.230 us, Update time : 1549.725 us, Write time : 493.103 us[0m ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780495511.86425567 seconds ×3 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.077377 ms (missed cycles : 8). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.077377 ms (missed cycles : 8).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780495512.47416663 seconds. ×3 + 4.18sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event" + 4.18sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event"[0m ×2 + 4.35sWARNcontroller_managerOverrun might occur, Total time : 3735.401 us (Expected < 1666.667 us) --> Read time : 254.882 us, Update time : 3017.847 us, Write time : 462.672 us + 4.35sWARNros2_control_nodeOverrun might occur, Total time : 3735.401 us (Expected < 1666.667 us) --> Read time : 254.882 us, Update time : 3017.847 us, Write time : 462.672 us[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780495513.06432581 seconds ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.332520 ms (missed cycles : 7). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.332520 ms (missed cycles : 7).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780495513.63112664 seconds. ×3 + 5.05sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.05sINFOobjective_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 + 5.05sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.05sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780495513.63310981 seconds ×3 + 5.19sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 5.19sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg" + 5.19sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.19sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg"[0m ×2 + 5.54sWARNcontroller_managerOverrun might occur, Total time : 8276.192 us (Expected < 1666.667 us) --> Read time : 224.051 us, Update time : 7299.865 us, Write time : 752.276 us + 5.54sWARNros2_control_nodeOverrun might occur, Total time : 8276.192 us (Expected < 1666.667 us) --> Read time : 224.051 us, Update time : 7299.865 us, Write time : 752.276 us[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780495514.19157910 seconds. ×3 + 5.61sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780495514.19218850 seconds ×3 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123279 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123279 ms (missed cycles : 2).[0m ×2 + 5.69sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String) + 5.69sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780495514.76237297 seconds. ×3 + 6.55sWARNcontroller_managerOverrun might occur, Total time : 1783.807 us (Expected < 1666.667 us) --> Read time : 220.891 us, Update time : 1131.605 us, Write time : 431.311 us + 6.55sWARNros2_control_nodeOverrun might occur, Total time : 1783.807 us (Expected < 1666.667 us) --> Read time : 220.891 us, Update time : 1131.605 us, Write time : 431.311 us[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143870 ms (missed cycles : 5). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143870 ms (missed cycles : 5).[0m ×2 + 6.70sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures" + 6.70sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures"[0m ×2 + 6.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780495515.49250078 seconds ×3 + 7.04sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.20sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 7.62sWARNcontroller_managerOverrun might occur, Total time : 1989.726 us (Expected < 1666.667 us) --> Read time : 1523.904 us, Update time : 62.413 us, Write time : 403.409 us + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895179 ms (missed cycles : 2). + 8.04sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 8.04sWARNros2_control_nodeOverrun might occur, Total time : 1989.726 us (Expected < 1666.667 us) --> Read time : 1523.904 us, Update time : 62.413 us, Write time : 403.409 us[0m ×2 + 8.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895179 ms (missed cycles : 2).[0m ×2
✓ passed	Add Table to Planning Scene	add_table_to_planning_scene.xml	0.7s	3 errors · 39 warnings · 49 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 8178.437 us (Expected < 1666.667 us) --> Read time : 161.178 us, Update time : 7474.463 us, Write time : 542.796 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 8178.437 us (Expected < 1666.667 us) --> Read time : 161.178 us, Update time : 7474.463 us, Write time : 542.796 us[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693640 ms (missed cycles : 6). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693640 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496826 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496826 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 4826.344 us (Expected < 1666.667 us) --> Read time : 265.913 us, Update time : 4066.467 us, Write time : 493.964 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 4826.344 us (Expected < 1666.667 us) --> Read time : 265.913 us, Update time : 4066.467 us, Write time : 493.964 us[0m ×2 + 1.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 1.70sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.71sINFOros2_control_node[2026-06-03 14:00:15.526] [info] Received new action goal ×2 + 1.71sINFOros2_control_node[2026-06-03 14:00:15.526] [info] Accepted new action goal ×2 + 2.03sINFOros2_control_node[2026-06-03 14:00:15.842] [info] Got request to cancel active goal. ×2 + 2.03sINFOros2_control_node[2026-06-03 14:00:15.842] [info] Canceling active goal... ×2 + 2.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780495215.85918593 seconds ×3 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522731 ms (missed cycles : 3). + 2.11sWARNcontroller_managerOverrun might occur, Total time : 4861.236 us (Expected < 1666.667 us) --> Read time : 188.819 us, Update time : 4118.960 us, Write time : 553.457 us + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522731 ms (missed cycles : 3).[0m ×2 + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 4861.236 us (Expected < 1666.667 us) --> Read time : 188.819 us, Update time : 4118.960 us, Write time : 553.457 us[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780495216.42135596 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780495216.55151176 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.139453 ms (missed cycles : 7). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.139453 ms (missed cycles : 7).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780495217.14217043 seconds. ×3 + 3.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.66sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.70sWARNcontroller_managerOverrun might occur, Total time : 5260.996 us (Expected < 1666.667 us) --> Read time : 4366.122 us, Update time : 118.216 us, Write time : 776.658 us + 3.70sWARNros2_control_nodeOverrun might occur, Total time : 5260.996 us (Expected < 1666.667 us) --> Read time : 4366.122 us, Update time : 118.216 us, Write time : 776.658 us[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161715 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161715 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-06-03 14:00:18.336] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-06-03 14:00:18.336] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1926.763 us (Expected < 1666.667 us) --> Read time : 129.716 us, Update time : 766.977 us, Write time : 1030.070 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1926.763 us (Expected < 1666.667 us) --> Read time : 129.716 us, Update time : 766.977 us, Write time : 1030.070 us[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826247 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826247 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun might occur, Total time : 2043.238 us (Expected < 1666.667 us) --> Read time : 281.633 us, Update time : 90.824 us, Write time : 1670.781 us + 6.01sWARNros2_control_nodeOverrun might occur, Total time : 2043.238 us (Expected < 1666.667 us) --> Read time : 281.633 us, Update time : 90.824 us, Write time : 1670.781 us[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119126 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119126 ms (missed cycles : 2).[0m ×2
✓ passed	Clear Previous Obstacles	clear_previous_obstacles.xml	0.7s	45 warnings · 50 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2903.361 us (Expected < 1666.667 us) --> Read time : 309.185 us, Update time : 2093.772 us, Write time : 500.404 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2903.361 us (Expected < 1666.667 us) --> Read time : 309.185 us, Update time : 2093.772 us, Write time : 500.404 us[0m ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540114 ms (missed cycles : 6). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540114 ms (missed cycles : 6).[0m ×2 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.28sWARNcontroller_managerOverrun might occur, Total time : 1689.162 us (Expected < 1666.667 us) --> Read time : 241.432 us, Update time : 56.833 us, Write time : 1390.897 us + 1.29sWARNros2_control_nodeOverrun might occur, Total time : 1689.162 us (Expected < 1666.667 us) --> Read time : 241.432 us, Update time : 56.833 us, Write time : 1390.897 us[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213231 ms (missed cycles : 4). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213231 ms (missed cycles : 4).[0m ×2 + 1.43sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.44sINFOros2_control_node[2026-06-03 14:00:44.898] [info] Received new action goal ×2 + 1.44sINFOros2_control_node[2026-06-03 14:00:44.898] [info] Accepted new action goal ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756048 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756048 ms (missed cycles : 2).[0m ×2 + 2.42sWARNcontroller_managerOverrun might occur, Total time : 5229.573 us (Expected < 1666.667 us) --> Read time : 289.504 us, Update time : 103.785 us, Write time : 4836.284 us + 2.42sWARNros2_control_nodeOverrun might occur, Total time : 5229.573 us (Expected < 1666.667 us) --> Read time : 289.504 us, Update time : 103.785 us, Write time : 4836.284 us[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780495246.28476191 seconds ×3 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850385 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850385 ms (missed cycles : 2).[0m ×2 + 3.42sWARNcontroller_managerOverrun might occur, Total time : 2692.821 us (Expected < 1666.667 us) --> Read time : 1774.976 us, Update time : 62.933 us, Write time : 854.912 us + 3.42sWARNros2_control_nodeOverrun might occur, Total time : 2692.821 us (Expected < 1666.667 us) --> Read time : 1774.976 us, Update time : 62.933 us, Write time : 854.912 us[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780495246.88600111 seconds. ×3 + 3.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780495246.96614718 seconds ×3 + 3.84sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.84sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780495247.54095817 seconds. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-06-03 14:00:47.655] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-06-03 14:00:47.655] [info] Accepted new action goal ×2 + 4.35sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.35sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314057 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314057 ms (missed cycles : 3).[0m ×2 + 4.53sWARNcontroller_managerOverrun might occur, Total time : 3116.741 us (Expected < 1666.667 us) --> Read time : 192.009 us, Update time : 2347.884 us, Write time : 576.848 us + 4.53sWARNros2_control_nodeOverrun might occur, Total time : 3116.741 us (Expected < 1666.667 us) --> Read time : 192.009 us, Update time : 2347.884 us, Write time : 576.848 us[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819161 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun might occur, Total time : 4942.549 us (Expected < 1666.667 us) --> Read time : 158.747 us, Update time : 4140.451 us, Write time : 643.351 us + 5.54sWARNros2_control_nodeOverrun might occur, Total time : 4942.549 us (Expected < 1666.667 us) --> Read time : 158.747 us, Update time : 4140.451 us, Write time : 643.351 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721537 ms (missed cycles : 6). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721537 ms (missed cycles : 6).[0m ×2 + 6.79sWARNcontroller_managerOverrun might occur, Total time : 2091.452 us (Expected < 1666.667 us) --> Read time : 275.103 us, Update time : 196.030 us, Write time : 1620.319 us + 6.79sWARNros2_control_nodeOverrun might occur, Total time : 2091.452 us (Expected < 1666.667 us) --> Read time : 275.103 us, Update time : 196.030 us, Write time : 1620.319 us[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333264 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333264 ms (missed cycles : 2).[0m ×2
✓ passed	Reset MuJoCo Robot	reset_mujoco_robot.xml	0.7s	3 errors · 48 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.192246 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.192246 ms (missed cycles : 7).[0m ×2 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 5671.525 us (Expected < 1666.667 us) --> Read time : 160.578 us, Update time : 32.201 us, Write time : 5478.746 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 5671.525 us (Expected < 1666.667 us) --> Read time : 160.578 us, Update time : 32.201 us, Write time : 5478.746 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035238 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035238 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 8345.374 us (Expected < 1666.667 us) --> Read time : 278.404 us, Update time : 7467.841 us, Write time : 599.129 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 8345.374 us (Expected < 1666.667 us) --> Read time : 278.404 us, Update time : 7467.841 us, Write time : 599.129 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908750 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908750 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun might occur, Total time : 5490.717 us (Expected < 1666.667 us) --> Read time : 239.702 us, Update time : 908.724 us, Write time : 4342.291 us + 2.33sWARNros2_control_nodeOverrun might occur, Total time : 5490.717 us (Expected < 1666.667 us) --> Read time : 239.702 us, Update time : 908.724 us, Write time : 4342.291 us[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343115 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343115 ms (missed cycles : 4).[0m ×2 + 3.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780495499.73458195 seconds ×3 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.15sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.52sWARNcontroller_managerOverrun might occur, Total time : 5025.484 us (Expected < 1666.667 us) --> Read time : 199.110 us, Update time : 4353.581 us, Write time : 472.793 us + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 5025.484 us (Expected < 1666.667 us) --> Read time : 199.110 us, Update time : 4353.581 us, Write time : 472.793 us[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780495500.38730192 seconds. ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.79sWARNcontroller_managerOverrun might occur, Total time : 3862.596 us (Expected < 1666.667 us) --> Read time : 165.908 us, Update time : 3003.825 us (Switch time : 2955.244 us (Switch chained mode time : 0.510 us, perform mode change time : 6.251 us, Activation time : 2942.533 us, Deactivation time : 0.480 us)), Write time : 692.863 us + 3.79sWARNros2_control_nodeOverrun might occur, Total time : 3862.596 us (Expected < 1666.667 us) --> Read time : 165.908 us, Update time : 3003.825 us (Switch time : 2955.244 us (Switch chained mode time : 0.510 us, perform mode change time : 6.251 us, Activation time : 2942.533 us, Deactivation time : 0.480 us)), Write time : 692.863 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780495500.47746730 seconds ×3 + 3.96sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.96sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919694 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919694 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780495501.03511405 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780495501.05737615 seconds ×3 + 4.77sWARNcontroller_managerOverrun might occur, Total time : 6074.014 us (Expected < 1666.667 us) --> Read time : 288.824 us, Update time : 36.612 us, Write time : 5748.578 us + 4.77sWARNros2_control_nodeOverrun might occur, Total time : 6074.014 us (Expected < 1666.667 us) --> Read time : 288.824 us, Update time : 36.612 us, Write time : 5748.578 us[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780495501.63115382 seconds. ×3 + 4.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.07sINFOros2_control_node[2026-06-03 14:05:01.756] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-06-03 14:05:01.756] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423945 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423945 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun might occur, Total time : 2346.764 us (Expected < 1666.667 us) --> Read time : 206.570 us, Update time : 1118.085 us, Write time : 1022.109 us + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669500 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun might occur, Total time : 2346.764 us (Expected < 1666.667 us) --> Read time : 206.570 us, Update time : 1118.085 us, Write time : 1022.109 us[0m ×2 + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669500 ms (missed cycles : 2).[0m ×2 + 7.21sWARNcontroller_managerOverrun might occur, Total time : 5078.715 us (Expected < 1666.667 us) --> Read time : 189.849 us, Update time : 4256.026 us, Write time : 632.840 us + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332842 ms (missed cycles : 4). + 7.21sWARNros2_control_nodeOverrun might occur, Total time : 5078.715 us (Expected < 1666.667 us) --> Read time : 189.849 us, Update time : 4256.026 us, Write time : 632.840 us[0m ×2 + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332842 ms (missed cycles : 4).[0m ×2
✓ passed	Load MuJoCo Robot State	load_mujoco_robot_state.xml	0.6s	48 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391377 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391377 ms (missed cycles : 2).[0m ×2 + 0.58sWARNcontroller_managerOverrun might occur, Total time : 3958.292 us (Expected < 1666.667 us) --> Read time : 278.193 us, Update time : 3156.174 us, Write time : 523.925 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 3958.292 us (Expected < 1666.667 us) --> Read time : 278.193 us, Update time : 3156.174 us, Write time : 523.925 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.940067 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.940067 ms (missed cycles : 4).[0m ×2 + 1.82sWARNcontroller_managerOverrun might occur, Total time : 2020.639 us (Expected < 1666.667 us) --> Read time : 269.954 us, Update time : 738.185 us, Write time : 1012.500 us + 1.82sWARNros2_control_nodeOverrun might occur, Total time : 2020.639 us (Expected < 1666.667 us) --> Read time : 269.954 us, Update time : 738.185 us, Write time : 1012.500 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249870 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249870 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780495291.70264292 seconds ×3 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.75sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.95sWARNcontroller_managerOverrun might occur, Total time : 1980.226 us (Expected < 1666.667 us) --> Read time : 243.401 us, Update time : 1229.170 us, Write time : 507.655 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1980.226 us (Expected < 1666.667 us) --> Read time : 243.401 us, Update time : 1229.170 us, Write time : 507.655 us[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868187 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868187 ms (missed cycles : 5).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780495292.26031184 seconds. ×3 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sWARNcontroller_managerOverrun might occur, Total time : 4070.457 us (Expected < 1666.667 us) --> Read time : 265.023 us, Update time : 3179.794 us (Switch time : 3129.761 us (Switch chained mode time : 0.430 us, perform mode change time : 5.480 us, Activation time : 3112.461 us, Deactivation time : 0.440 us)), Write time : 625.640 us + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 4070.457 us (Expected < 1666.667 us) --> Read time : 265.023 us, Update time : 3179.794 us (Switch time : 3129.761 us (Switch chained mode time : 0.430 us, perform mode change time : 5.480 us, Activation time : 3112.461 us, Deactivation time : 0.440 us)), Write time : 625.640 us[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780495292.33044457 seconds ×3 + 4.03sWARNcontroller_managerOverrun might occur, Total time : 3257.907 us (Expected < 1666.667 us) --> Read time : 280.263 us, Update time : 2376.365 us, Write time : 601.279 us + 4.03sWARNros2_control_nodeOverrun might occur, Total time : 3257.907 us (Expected < 1666.667 us) --> Read time : 280.263 us, Update time : 2376.365 us, Write time : 601.279 us[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780495292.99093080 seconds. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791734 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791734 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.17sINFOros2_control_node[2026-06-03 14:01:33.125] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-06-03 14:01:33.125] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun might occur, Total time : 3919.020 us (Expected < 1666.667 us) --> Read time : 177.689 us, Update time : 3163.223 us, Write time : 578.108 us + 5.08sWARNros2_control_nodeOverrun might occur, Total time : 3919.020 us (Expected < 1666.667 us) --> Read time : 177.689 us, Update time : 3163.223 us, Write time : 578.108 us[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496294 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496294 ms (missed cycles : 3).[0m ×2 + 6.08sWARNcontroller_managerOverrun might occur, Total time : 9537.364 us (Expected < 1666.667 us) --> Read time : 203.230 us, Update time : 79.764 us, Write time : 9254.370 us + 6.08sWARNros2_control_nodeOverrun might occur, Total time : 9537.364 us (Expected < 1666.667 us) --> Read time : 203.230 us, Update time : 79.764 us, Write time : 9254.370 us[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053019 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053019 ms (missed cycles : 2).[0m ×2 + 6.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780495295.13109899 seconds ×3 + 6.73sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780495295.68745875 seconds. ×3 + 6.81sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/moveit_pro_ui/switch_primary_view" + 6.81sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 6.85sINFOros2_control_node[2026-06-03 14:01:35.812] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-03 14:01:35.812] [info] Accepted new action goal ×2 + 7.12sWARNcontroller_managerOverrun might occur, Total time : 1749.455 us (Expected < 1666.667 us) --> Read time : 834.820 us, Update time : 50.523 us, Write time : 864.112 us + 7.12sWARNros2_control_nodeOverrun might occur, Total time : 1749.455 us (Expected < 1666.667 us) --> Read time : 834.820 us, Update time : 50.523 us, Write time : 864.112 us[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031161 ms (missed cycles : 3). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031161 ms (missed cycles : 3).[0m ×2
✓ passed	Save Robot Joint State	save_robot_joint_state.xml	0.6s	3 errors · 42 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035238 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035238 ms (missed cycles : 2).[0m ×2 + 0.16sWARNcontroller_managerOverrun might occur, Total time : 8345.374 us (Expected < 1666.667 us) --> Read time : 278.404 us, Update time : 7467.841 us, Write time : 599.129 us + 0.17sWARNros2_control_nodeOverrun might occur, Total time : 8345.374 us (Expected < 1666.667 us) --> Read time : 278.404 us, Update time : 7467.841 us, Write time : 599.129 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908750 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908750 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun might occur, Total time : 5490.717 us (Expected < 1666.667 us) --> Read time : 239.702 us, Update time : 908.724 us, Write time : 4342.291 us + 1.32sWARNros2_control_nodeOverrun might occur, Total time : 5490.717 us (Expected < 1666.667 us) --> Read time : 239.702 us, Update time : 908.724 us, Write time : 4342.291 us[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343115 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343115 ms (missed cycles : 4).[0m ×2 + 2.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780495499.73458195 seconds ×3 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.13sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.51sWARNcontroller_managerOverrun might occur, Total time : 5025.484 us (Expected < 1666.667 us) --> Read time : 199.110 us, Update time : 4353.581 us, Write time : 472.793 us + 2.51sWARNros2_control_nodeOverrun might occur, Total time : 5025.484 us (Expected < 1666.667 us) --> Read time : 199.110 us, Update time : 4353.581 us, Write time : 472.793 us[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780495500.38730192 seconds. ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.74sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.77sWARNcontroller_managerOverrun might occur, Total time : 3862.596 us (Expected < 1666.667 us) --> Read time : 165.908 us, Update time : 3003.825 us (Switch time : 2955.244 us (Switch chained mode time : 0.510 us, perform mode change time : 6.251 us, Activation time : 2942.533 us, Deactivation time : 0.480 us)), Write time : 692.863 us + 2.77sWARNros2_control_nodeOverrun might occur, Total time : 3862.596 us (Expected < 1666.667 us) --> Read time : 165.908 us, Update time : 3003.825 us (Switch time : 2955.244 us (Switch chained mode time : 0.510 us, perform mode change time : 6.251 us, Activation time : 2942.533 us, Deactivation time : 0.480 us)), Write time : 692.863 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780495500.47746730 seconds ×3 + 2.95sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.95sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919694 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919694 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780495501.03511405 seconds. ×3 + 3.36sINFOobjective_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 + 3.36sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780495501.05737615 seconds ×3 + 3.76sWARNcontroller_managerOverrun might occur, Total time : 6074.014 us (Expected < 1666.667 us) --> Read time : 288.824 us, Update time : 36.612 us, Write time : 5748.578 us + 3.76sWARNros2_control_nodeOverrun might occur, Total time : 6074.014 us (Expected < 1666.667 us) --> Read time : 288.824 us, Update time : 36.612 us, Write time : 5748.578 us[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780495501.63115382 seconds. ×3 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.06sINFOros2_control_node[2026-06-03 14:05:01.756] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-06-03 14:05:01.756] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423945 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423945 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 2346.764 us (Expected < 1666.667 us) --> Read time : 206.570 us, Update time : 1118.085 us, Write time : 1022.109 us + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669500 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 2346.764 us (Expected < 1666.667 us) --> Read time : 206.570 us, Update time : 1118.085 us, Write time : 1022.109 us[0m ×2 + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669500 ms (missed cycles : 2).[0m ×2 + 6.20sWARNcontroller_managerOverrun might occur, Total time : 5078.715 us (Expected < 1666.667 us) --> Read time : 189.849 us, Update time : 4256.026 us, Write time : 632.840 us + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332842 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun might occur, Total time : 5078.715 us (Expected < 1666.667 us) --> Read time : 189.849 us, Update time : 4256.026 us, Write time : 632.840 us[0m ×2 + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332842 ms (missed cycles : 4).[0m ×2
✓ passed	Vector and String Example	vector_and_string_example.xml	0.6s	3 errors · 42 warnings · 68 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228351 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228351 ms (missed cycles : 2).[0m ×2 + 0.67sWARNcontroller_managerOverrun might occur, Total time : 2124.393 us (Expected < 1666.667 us) --> Read time : 241.111 us, Update time : 1463.281 us, Write time : 420.001 us + 0.67sWARNros2_control_nodeOverrun might occur, Total time : 2124.393 us (Expected < 1666.667 us) --> Read time : 241.111 us, Update time : 1463.281 us, Write time : 420.001 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722645 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722645 ms (missed cycles : 3).[0m ×2 + 1.77sINFOros2_control_node[2026-06-03 14:05:11.845] [info] Got request to cancel active goal. ×2 + 1.77sINFOros2_control_node[2026-06-03 14:05:11.845] [info] Canceling active goal... ×2 + 1.77sWARNcontroller_managerOverrun might occur, Total time : 2251.058 us (Expected < 1666.667 us) --> Read time : 208.230 us, Update time : 1549.725 us, Write time : 493.103 us + 1.77sWARNros2_control_nodeOverrun might occur, Total time : 2251.058 us (Expected < 1666.667 us) --> Read time : 208.230 us, Update time : 1549.725 us, Write time : 493.103 us[0m ×2 + 1.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780495511.86425567 seconds ×3 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.85sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.077377 ms (missed cycles : 8). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.077377 ms (missed cycles : 8).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780495512.47416663 seconds. ×3 + 2.68sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event" + 2.68sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event"[0m ×2 + 2.85sWARNcontroller_managerOverrun might occur, Total time : 3735.401 us (Expected < 1666.667 us) --> Read time : 254.882 us, Update time : 3017.847 us, Write time : 462.672 us + 2.85sWARNros2_control_nodeOverrun might occur, Total time : 3735.401 us (Expected < 1666.667 us) --> Read time : 254.882 us, Update time : 3017.847 us, Write time : 462.672 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780495513.06432581 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.332520 ms (missed cycles : 7). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.332520 ms (missed cycles : 7).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780495513.63112664 seconds. ×3 + 3.55sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.55sINFOobjective_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 + 3.55sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780495513.63310981 seconds ×3 + 3.69sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.69sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg" + 3.69sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.69sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg"[0m ×2 + 4.04sWARNcontroller_managerOverrun might occur, Total time : 8276.192 us (Expected < 1666.667 us) --> Read time : 224.051 us, Update time : 7299.865 us, Write time : 752.276 us + 4.04sWARNros2_control_nodeOverrun might occur, Total time : 8276.192 us (Expected < 1666.667 us) --> Read time : 224.051 us, Update time : 7299.865 us, Write time : 752.276 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780495514.19157910 seconds. ×3 + 4.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780495514.19218850 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123279 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123279 ms (missed cycles : 2).[0m ×2 + 4.19sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String) + 4.19sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780495514.76237297 seconds. ×3 + 5.05sWARNcontroller_managerOverrun might occur, Total time : 1783.807 us (Expected < 1666.667 us) --> Read time : 220.891 us, Update time : 1131.605 us, Write time : 431.311 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 1783.807 us (Expected < 1666.667 us) --> Read time : 220.891 us, Update time : 1131.605 us, Write time : 431.311 us[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143870 ms (missed cycles : 5). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143870 ms (missed cycles : 5).[0m ×2 + 5.20sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures" + 5.20sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures"[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780495515.49250078 seconds ×3 + 5.55sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.70sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.12sWARNcontroller_managerOverrun might occur, Total time : 1989.726 us (Expected < 1666.667 us) --> Read time : 1523.904 us, Update time : 62.413 us, Write time : 403.409 us + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895179 ms (missed cycles : 2). + 6.54sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 6.54sWARNros2_control_nodeOverrun might occur, Total time : 1989.726 us (Expected < 1666.667 us) --> Read time : 1523.904 us, Update time : 62.413 us, Write time : 403.409 us[0m ×2 + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895179 ms (missed cycles : 2).[0m ×2
✓ passed	Visualize Grasp Link	visualize_grasp_link.xml	0.6s	3 errors · 45 warnings · 68 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2124.393 us (Expected < 1666.667 us) --> Read time : 241.111 us, Update time : 1463.281 us, Write time : 420.001 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2124.393 us (Expected < 1666.667 us) --> Read time : 241.111 us, Update time : 1463.281 us, Write time : 420.001 us[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722645 ms (missed cycles : 3). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722645 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_node[2026-06-03 14:05:11.845] [info] Got request to cancel active goal. ×2 + 1.09sINFOros2_control_node[2026-06-03 14:05:11.845] [info] Canceling active goal... ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 2251.058 us (Expected < 1666.667 us) --> Read time : 208.230 us, Update time : 1549.725 us, Write time : 493.103 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 2251.058 us (Expected < 1666.667 us) --> Read time : 208.230 us, Update time : 1549.725 us, Write time : 493.103 us[0m ×2 + 1.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780495511.86425567 seconds ×3 + 1.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.17sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.077377 ms (missed cycles : 8). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.077377 ms (missed cycles : 8).[0m ×2 + 1.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780495512.47416663 seconds. ×3 + 2.01sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event" + 2.01sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event"[0m ×2 + 2.18sWARNcontroller_managerOverrun might occur, Total time : 3735.401 us (Expected < 1666.667 us) --> Read time : 254.882 us, Update time : 3017.847 us, Write time : 462.672 us + 2.18sWARNros2_control_nodeOverrun might occur, Total time : 3735.401 us (Expected < 1666.667 us) --> Read time : 254.882 us, Update time : 3017.847 us, Write time : 462.672 us[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780495513.06432581 seconds ×3 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.332520 ms (missed cycles : 7). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.332520 ms (missed cycles : 7).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780495513.63112664 seconds. ×3 + 2.88sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.88sINFOobjective_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 + 2.88sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780495513.63310981 seconds ×3 + 3.02sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.02sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg" + 3.02sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.02sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg"[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 8276.192 us (Expected < 1666.667 us) --> Read time : 224.051 us, Update time : 7299.865 us, Write time : 752.276 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 8276.192 us (Expected < 1666.667 us) --> Read time : 224.051 us, Update time : 7299.865 us, Write time : 752.276 us[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780495514.19157910 seconds. ×3 + 3.44sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780495514.19218850 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123279 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123279 ms (missed cycles : 2).[0m ×2 + 3.52sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String) + 3.52sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780495514.76237297 seconds. ×3 + 4.38sWARNcontroller_managerOverrun might occur, Total time : 1783.807 us (Expected < 1666.667 us) --> Read time : 220.891 us, Update time : 1131.605 us, Write time : 431.311 us + 4.38sWARNros2_control_nodeOverrun might occur, Total time : 1783.807 us (Expected < 1666.667 us) --> Read time : 220.891 us, Update time : 1131.605 us, Write time : 431.311 us[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143870 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143870 ms (missed cycles : 5).[0m ×2 + 4.53sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures" + 4.53sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures"[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780495515.49250078 seconds ×3 + 4.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.03sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.45sWARNcontroller_managerOverrun might occur, Total time : 1989.726 us (Expected < 1666.667 us) --> Read time : 1523.904 us, Update time : 62.413 us, Write time : 403.409 us + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895179 ms (missed cycles : 2). + 5.87sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 5.87sWARNros2_control_nodeOverrun might occur, Total time : 1989.726 us (Expected < 1666.667 us) --> Read time : 1523.904 us, Update time : 62.413 us, Write time : 403.409 us[0m ×2 + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895179 ms (missed cycles : 2).[0m ×2 + 6.55sWARNcontroller_managerOverrun might occur, Total time : 2222.557 us (Expected < 1666.667 us) --> Read time : 989.348 us, Update time : 66.213 us, Write time : 1166.996 us + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057057 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun might occur, Total time : 2222.557 us (Expected < 1666.667 us) --> Read time : 989.348 us, Update time : 66.213 us, Write time : 1166.996 us[0m ×2 + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057057 ms (missed cycles : 2).[0m ×2
− skipped	Fan Pose About Tool-Z Subtree	fan_pose_about_tool_z_subtree.xml	0.0s	3 errors · 39 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4).[0m ×2 + 0.49sWARNcontroller_managerOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us + 0.49sWARNros2_control_nodeOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us[0m ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.61sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5).[0m ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5).[0m ×2 + 2.71sWARNcontroller_managerOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us + 2.71sWARNros2_control_nodeOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us[0m ×2 + 2.76sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Canceling active goal... ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495257.85378075 seconds ×3 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495258.60990453 seconds. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.87sWARNcontroller_managerOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us + 3.88sWARNros2_control_nodeOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.75sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us + 4.90sWARNros2_control_nodeOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8).[0m ×2
− skipped	Force Relaxation	force_relaxation.xml	0.0s	3 errors · 39 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4).[0m ×2 + 0.49sWARNcontroller_managerOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us + 0.49sWARNros2_control_nodeOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us[0m ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.61sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5).[0m ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5).[0m ×2 + 2.71sWARNcontroller_managerOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us + 2.71sWARNros2_control_nodeOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us[0m ×2 + 2.76sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Canceling active goal... ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495257.85378075 seconds ×3 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495258.60990453 seconds. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.87sWARNcontroller_managerOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us + 3.88sWARNros2_control_nodeOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.75sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us + 4.90sWARNros2_control_nodeOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8).[0m ×2
− skipped	Joint Diagnostic	joint_diagnostic.xml	0.0s	3 errors · 39 warnings · 64 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237340 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237340 ms (missed cycles : 4).[0m ×2 + 0.16sWARNcontroller_managerOverrun might occur, Total time : 10064.989 us (Expected < 1666.667 us) --> Read time : 305.224 us, Update time : 9063.111 us, Write time : 696.654 us + 0.16sWARNros2_control_nodeOverrun might occur, Total time : 10064.989 us (Expected < 1666.667 us) --> Read time : 305.224 us, Update time : 9063.111 us, Write time : 696.654 us[0m ×2 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.84sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.87sINFOobjective_server_nodeFound path in 1 iterations (0.00251118 s). ×2 + 0.96sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] ×2 + 0.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301980 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301980 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_node[2026-06-03 14:01:17.727] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-06-03 14:01:17.727] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun might occur, Total time : 6080.255 us (Expected < 1666.667 us) --> Read time : 195.119 us, Update time : 213.470 us, Write time : 5671.666 us + 1.21sWARNros2_control_nodeOverrun might occur, Total time : 6080.255 us (Expected < 1666.667 us) --> Read time : 195.119 us, Update time : 213.470 us, Write time : 5671.666 us[0m ×2 + 1.44sINFOros2_control_node[2026-06-03 14:01:18.159] [info] Received new action goal ×2 + 1.44sINFOros2_control_node[2026-06-03 14:01:18.159] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886016 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886016 ms (missed cycles : 5).[0m ×2 + 2.63sWARNcontroller_managerOverrun might occur, Total time : 9836.947 us (Expected < 1666.667 us) --> Read time : 171.748 us, Update time : 9099.941 us, Write time : 565.258 us + 2.63sWARNros2_control_nodeOverrun might occur, Total time : 9836.947 us (Expected < 1666.667 us) --> Read time : 171.748 us, Update time : 9099.941 us, Write time : 565.258 us[0m ×2 + 2.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.867225 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.867225 ms (missed cycles : 5).[0m ×2 + 3.12sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.12sINFOrobotiq_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 + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780495279.85084271 seconds ×3 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780495280.49619651 seconds. ×3 + 3.81sWARNcontroller_managerOverrun might occur, Total time : 1818.029 us (Expected < 1666.667 us) --> Read time : 1308.314 us, Update time : 76.414 us, Write time : 433.301 us + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 1818.029 us (Expected < 1666.667 us) --> Read time : 1308.314 us, Update time : 76.414 us, Write time : 433.301 us[0m ×2 + 3.92sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.92sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.92sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.92sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.97sINFOros2_control_node[2026-06-03 14:01:20.680] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-06-03 14:01:20.680] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949466 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949466 ms (missed cycles : 3).[0m ×2 + 4.99sWARNcontroller_managerOverrun might occur, Total time : 6744.888 us (Expected < 1666.667 us) --> Read time : 319.265 us, Update time : 5709.578 us, Write time : 716.045 us + 4.99sWARNros2_control_nodeOverrun might occur, Total time : 6744.888 us (Expected < 1666.667 us) --> Read time : 319.265 us, Update time : 5709.578 us, Write time : 716.045 us[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319182 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319182 ms (missed cycles : 3).[0m ×2 + 6.06sWARNcontroller_managerOverrun might occur, Total time : 1827.489 us (Expected < 1666.667 us) --> Read time : 391.609 us, Update time : 101.145 us, Write time : 1334.735 us + 6.06sWARNros2_control_nodeOverrun might occur, Total time : 1827.489 us (Expected < 1666.667 us) --> Read time : 391.609 us, Update time : 101.145 us, Write time : 1334.735 us[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012525 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012525 ms (missed cycles : 3).[0m ×2 + 6.43sINFOros2_control_node[2026-06-03 14:01:23.141] [info] Received new action goal ×2 + 6.43sINFOros2_control_node[2026-06-03 14:01:23.141] [info] Accepted new action goal ×2
− skipped	ML Segment Point Cloud from Clicked Point	ml_segment_point_cloud_from_clicked_point.xml	0.0s	39 warnings · 78 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780495302.99235487 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 1921.333 us (Expected < 1666.667 us) --> Read time : 884.233 us, Update time : 65.703 us, Write time : 971.397 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 1921.333 us (Expected < 1666.667 us) --> Read time : 884.233 us, Update time : 65.703 us, Write time : 971.397 us[0m ×2 + 0.35sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/masks_visualization" + 0.35sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/masks_visualization"[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.242452 ms (missed cycles : 7). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.242452 ms (missed cycles : 7).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780495303.59481454 seconds. ×3 + 0.86sINFOfoxglove_bridgeRemoving channel 73 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.86sINFOfoxglove_bridgeRemoving channel 73 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 0.86sINFOfoxglove_bridgeRemoving channel 72 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.86sINFOfoxglove_bridgeRemoving channel 72 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.17sINFOobjective_server_node[0;93m2026-06-03 14:01:44.163239568 [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 + 1.17sINFOobjective_server_node[0;93m2026-06-03 14:01:44.163281670 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.34sWARNcontroller_managerOverrun might occur, Total time : 9906.402 us (Expected < 1666.667 us) --> Read time : 203.690 us, Update time : 9127.704 us, Write time : 575.008 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 9906.402 us (Expected < 1666.667 us) --> Read time : 203.690 us, Update time : 9127.704 us, Write time : 575.008 us[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415328 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415328 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_node[0;93m2026-06-03 14:01:44.652506694 [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;93m2026-06-03 14:01:44.652548256 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.78sINFOobjective_server_node[0;93m2026-06-03 14:01:44.772553928 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-03 14:01:44.775899751 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-03 14:01:44.775943843 [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;93m2026-06-03 14:01:45.141198233 [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 + 2.16sINFOobjective_server_node[0;93m2026-06-03 14:01:45.156495194 [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 + 2.16sINFOobjective_server_node[0;93m2026-06-03 14:01:45.156531356 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 4894.377 us (Expected < 1666.667 us) --> Read time : 192.640 us, Update time : 4169.572 us, Write time : 532.165 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 4894.377 us (Expected < 1666.667 us) --> Read time : 192.640 us, Update time : 4169.572 us, Write time : 532.165 us[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683903 ms (missed cycles : 5). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683903 ms (missed cycles : 5).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780495306.00191402 seconds ×3 + 3.38sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization" + 3.38sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization"[0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370200 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370200 ms (missed cycles : 3).[0m ×2 + 3.52sWARNcontroller_managerOverrun might occur, Total time : 2195.186 us (Expected < 1666.667 us) --> Read time : 172.488 us, Update time : 1453.741 us, Write time : 568.957 us + 3.52sWARNros2_control_nodeOverrun might occur, Total time : 2195.186 us (Expected < 1666.667 us) --> Read time : 172.488 us, Update time : 1453.741 us, Write time : 568.957 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780495306.70009637 seconds. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.88sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893387 ms (missed cycles : 5). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893387 ms (missed cycles : 5).[0m ×2 + 4.55sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.56sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.59sWARNcontroller_managerOverrun might occur, Total time : 2124.443 us (Expected < 1666.667 us) --> Read time : 1604.858 us, Update time : 74.914 us, Write time : 444.671 us + 4.59sWARNros2_control_nodeOverrun might occur, Total time : 2124.443 us (Expected < 1666.667 us) --> Read time : 1604.858 us, Update time : 74.914 us, Write time : 444.671 us[0m ×2 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.89sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution" + 4.90sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution"[0m ×2 + 4.92sINFOros2_control_node[2026-06-03 14:01:47.907] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-06-03 14:01:47.907] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721297 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721297 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun might occur, Total time : 5693.754 us (Expected < 1666.667 us) --> Read time : 142.946 us, Update time : 4915.348 us, Write time : 635.460 us + 6.31sWARNros2_control_nodeOverrun might occur, Total time : 5693.754 us (Expected < 1666.667 us) --> Read time : 142.946 us, Update time : 4915.348 us, Write time : 635.460 us[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241777 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241777 ms (missed cycles : 4).[0m ×2
− skipped	Octomap Example	octomap_example.xml	0.0s	39 warnings · 2259 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×369 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×369 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×738 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×738 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216702 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216702 ms (missed cycles : 2).[0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 6539.797 us (Expected < 1666.667 us) --> Read time : 217.961 us, Update time : 1124.484 us, Write time : 5197.352 us + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 6539.797 us (Expected < 1666.667 us) --> Read time : 217.961 us, Update time : 1124.484 us, Write time : 5197.352 us[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839774 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839774 ms (missed cycles : 2).[0m ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 1958.525 us (Expected < 1666.667 us) --> Read time : 332.566 us, Update time : 92.774 us, Write time : 1533.185 us + 1.87sWARNros2_control_nodeOverrun might occur, Total time : 1958.525 us (Expected < 1666.667 us) --> Read time : 332.566 us, Update time : 92.774 us, Write time : 1533.185 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126091 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126091 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun might occur, Total time : 3144.132 us (Expected < 1666.667 us) --> Read time : 790.078 us, Update time : 236.192 us, Write time : 2117.862 us + 3.11sWARNros2_control_nodeOverrun might occur, Total time : 3144.132 us (Expected < 1666.667 us) --> Read time : 790.078 us, Update time : 236.192 us, Write time : 2117.862 us[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780495424.44333148 seconds ×3 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986488 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986488 ms (missed cycles : 2).[0m ×2 + 3.72sINFOjoint_trajectory_controllerGoal reached, success! + 3.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.92sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780495425.10204983 seconds. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.16sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 4.25sWARNcontroller_managerOverrun might occur, Total time : 6709.026 us (Expected < 1666.667 us) --> Read time : 124.116 us, Update time : 5997.702 us, Write time : 587.208 us + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 6709.026 us (Expected < 1666.667 us) --> Read time : 124.116 us, Update time : 5997.702 us, Write time : 587.208 us[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731818 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731818 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerSuccessfully switched controllers! + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 5.11sINFOobjective_server_nodeFound path in 6 iterations (0.00486167 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] ×2 + 5.18sINFOros2_control_node[2026-06-03 14:03:46.358] [info] Received new action goal ×2 + 5.18sINFOros2_control_node[2026-06-03 14:03:46.358] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731321 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731321 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun might occur, Total time : 2666.089 us (Expected < 1666.667 us) --> Read time : 145.907 us, Update time : 35.212 us, Write time : 2484.970 us + 5.56sWARNros2_control_nodeOverrun might occur, Total time : 2666.089 us (Expected < 1666.667 us) --> Read time : 145.907 us, Update time : 35.212 us, Write time : 2484.970 us[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169559 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169559 ms (missed cycles : 5).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 1834.559 us (Expected < 1666.667 us) --> Read time : 128.167 us, Update time : 49.192 us, Write time : 1657.200 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 1834.559 us (Expected < 1666.667 us) --> Read time : 128.167 us, Update time : 49.192 us, Write time : 1657.200 us[0m ×2
− skipped	Place Object	place_object.xml	0.0s	3 errors · 39 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1807.258 us (Expected < 1666.667 us) --> Read time : 161.008 us, Update time : 481.884 us, Write time : 1164.366 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1807.258 us (Expected < 1666.667 us) --> Read time : 161.008 us, Update time : 481.884 us, Write time : 1164.366 us[0m ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038573 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038573 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 6697.196 us (Expected < 1666.667 us) --> Read time : 241.491 us, Update time : 98.885 us, Write time : 6356.820 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 6697.196 us (Expected < 1666.667 us) --> Read time : 241.491 us, Update time : 98.885 us, Write time : 6356.820 us[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437162 ms (missed cycles : 4). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437162 ms (missed cycles : 4).[0m ×2 + 1.87sINFOros2_control_node[2026-06-03 14:04:26.090] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-06-03 14:04:26.090] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun might occur, Total time : 4069.688 us (Expected < 1666.667 us) --> Read time : 194.759 us, Update time : 34.132 us, Write time : 3840.797 us + 2.15sWARNros2_control_nodeOverrun might occur, Total time : 4069.688 us (Expected < 1666.667 us) --> Read time : 194.759 us, Update time : 34.132 us, Write time : 3840.797 us[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640565 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640565 ms (missed cycles : 6).[0m ×2 + 3.02sINFOros2_control_node[2026-06-03 14:04:27.241] [info] Got request to cancel active goal. ×2 + 3.02sINFOros2_control_node[2026-06-03 14:04:27.241] [info] Canceling active goal... ×2 + 3.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780495467.25103068 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.23sWARNcontroller_managerOverrun might occur, Total time : 4453.357 us (Expected < 1666.667 us) --> Read time : 229.571 us, Update time : 3672.069 us, Write time : 551.717 us + 3.24sWARNros2_control_nodeOverrun might occur, Total time : 4453.357 us (Expected < 1666.667 us) --> Read time : 229.571 us, Update time : 3672.069 us, Write time : 551.717 us[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584933 ms (missed cycles : 6). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584933 ms (missed cycles : 6).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780495467.84825420 seconds. ×3 + 3.64sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.64sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-06-03 14:04:28.013] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-06-03 14:04:28.014] [info] Accepted new action goal ×2 + 4.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.37sWARNcontroller_managerOverrun might occur, Total time : 3378.335 us (Expected < 1666.667 us) --> Read time : 201.810 us, Update time : 2568.435 us, Write time : 608.090 us + 4.37sWARNros2_control_nodeOverrun might occur, Total time : 3378.335 us (Expected < 1666.667 us) --> Read time : 201.810 us, Update time : 2568.435 us, Write time : 608.090 us[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649739 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649739 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun might occur, Total time : 1935.505 us (Expected < 1666.667 us) --> Read time : 170.739 us, Update time : 107.665 us, Write time : 1657.101 us + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 1935.505 us (Expected < 1666.667 us) --> Read time : 170.739 us, Update time : 107.665 us, Write time : 1657.101 us[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390544 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390544 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732358 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732358 ms (missed cycles : 2).[0m ×2
− skipped	Add Point Cloud to Vector	add_point_cloud_to_vector.xml	0.0s	3 errors · 36 warnings · 49 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 8178.437 us (Expected < 1666.667 us) --> Read time : 161.178 us, Update time : 7474.463 us, Write time : 542.796 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 8178.437 us (Expected < 1666.667 us) --> Read time : 161.178 us, Update time : 7474.463 us, Write time : 542.796 us[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693640 ms (missed cycles : 6). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693640 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496826 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496826 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 4826.344 us (Expected < 1666.667 us) --> Read time : 265.913 us, Update time : 4066.467 us, Write time : 493.964 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 4826.344 us (Expected < 1666.667 us) --> Read time : 265.913 us, Update time : 4066.467 us, Write time : 493.964 us[0m ×2 + 1.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 1.70sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.71sINFOros2_control_node[2026-06-03 14:00:15.526] [info] Received new action goal ×2 + 1.71sINFOros2_control_node[2026-06-03 14:00:15.526] [info] Accepted new action goal ×2 + 2.03sINFOros2_control_node[2026-06-03 14:00:15.842] [info] Got request to cancel active goal. ×2 + 2.03sINFOros2_control_node[2026-06-03 14:00:15.842] [info] Canceling active goal... ×2 + 2.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780495215.85918593 seconds ×3 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522731 ms (missed cycles : 3). + 2.11sWARNcontroller_managerOverrun might occur, Total time : 4861.236 us (Expected < 1666.667 us) --> Read time : 188.819 us, Update time : 4118.960 us, Write time : 553.457 us + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522731 ms (missed cycles : 3).[0m ×2 + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 4861.236 us (Expected < 1666.667 us) --> Read time : 188.819 us, Update time : 4118.960 us, Write time : 553.457 us[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780495216.42135596 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780495216.55151176 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.139453 ms (missed cycles : 7). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.139453 ms (missed cycles : 7).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780495217.14217043 seconds. ×3 + 3.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.66sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.70sWARNcontroller_managerOverrun might occur, Total time : 5260.996 us (Expected < 1666.667 us) --> Read time : 4366.122 us, Update time : 118.216 us, Write time : 776.658 us + 3.70sWARNros2_control_nodeOverrun might occur, Total time : 5260.996 us (Expected < 1666.667 us) --> Read time : 4366.122 us, Update time : 118.216 us, Write time : 776.658 us[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161715 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161715 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-06-03 14:00:18.336] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-06-03 14:00:18.336] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1926.763 us (Expected < 1666.667 us) --> Read time : 129.716 us, Update time : 766.977 us, Write time : 1030.070 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1926.763 us (Expected < 1666.667 us) --> Read time : 129.716 us, Update time : 766.977 us, Write time : 1030.070 us[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826247 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826247 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun might occur, Total time : 2043.238 us (Expected < 1666.667 us) --> Read time : 281.633 us, Update time : 90.824 us, Write time : 1670.781 us + 6.01sWARNros2_control_nodeOverrun might occur, Total time : 2043.238 us (Expected < 1666.667 us) --> Read time : 281.633 us, Update time : 90.824 us, Write time : 1670.781 us[0m ×2
− skipped	Add Poses to MTC Task	add_poses_to_mtc_task.xml	0.0s	3 errors · 36 warnings · 49 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 8178.437 us (Expected < 1666.667 us) --> Read time : 161.178 us, Update time : 7474.463 us, Write time : 542.796 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 8178.437 us (Expected < 1666.667 us) --> Read time : 161.178 us, Update time : 7474.463 us, Write time : 542.796 us[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693640 ms (missed cycles : 6). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693640 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496826 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496826 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 4826.344 us (Expected < 1666.667 us) --> Read time : 265.913 us, Update time : 4066.467 us, Write time : 493.964 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 4826.344 us (Expected < 1666.667 us) --> Read time : 265.913 us, Update time : 4066.467 us, Write time : 493.964 us[0m ×2 + 1.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 1.70sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.71sINFOros2_control_node[2026-06-03 14:00:15.526] [info] Received new action goal ×2 + 1.71sINFOros2_control_node[2026-06-03 14:00:15.526] [info] Accepted new action goal ×2 + 2.03sINFOros2_control_node[2026-06-03 14:00:15.842] [info] Got request to cancel active goal. ×2 + 2.03sINFOros2_control_node[2026-06-03 14:00:15.842] [info] Canceling active goal... ×2 + 2.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780495215.85918593 seconds ×3 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522731 ms (missed cycles : 3). + 2.11sWARNcontroller_managerOverrun might occur, Total time : 4861.236 us (Expected < 1666.667 us) --> Read time : 188.819 us, Update time : 4118.960 us, Write time : 553.457 us + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522731 ms (missed cycles : 3).[0m ×2 + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 4861.236 us (Expected < 1666.667 us) --> Read time : 188.819 us, Update time : 4118.960 us, Write time : 553.457 us[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780495216.42135596 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780495216.55151176 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.139453 ms (missed cycles : 7). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.139453 ms (missed cycles : 7).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780495217.14217043 seconds. ×3 + 3.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.66sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.70sWARNcontroller_managerOverrun might occur, Total time : 5260.996 us (Expected < 1666.667 us) --> Read time : 4366.122 us, Update time : 118.216 us, Write time : 776.658 us + 3.70sWARNros2_control_nodeOverrun might occur, Total time : 5260.996 us (Expected < 1666.667 us) --> Read time : 4366.122 us, Update time : 118.216 us, Write time : 776.658 us[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161715 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161715 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-06-03 14:00:18.336] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-06-03 14:00:18.336] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1926.763 us (Expected < 1666.667 us) --> Read time : 129.716 us, Update time : 766.977 us, Write time : 1030.070 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1926.763 us (Expected < 1666.667 us) --> Read time : 129.716 us, Update time : 766.977 us, Write time : 1030.070 us[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826247 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826247 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun might occur, Total time : 2043.238 us (Expected < 1666.667 us) --> Read time : 281.633 us, Update time : 90.824 us, Write time : 1670.781 us + 6.01sWARNros2_control_nodeOverrun might occur, Total time : 2043.238 us (Expected < 1666.667 us) --> Read time : 281.633 us, Update time : 90.824 us, Write time : 1670.781 us[0m ×2
− skipped	Add Waypoints to MTC Task	add_waypoints_to_mtc_task.xml	0.0s	3 errors · 39 warnings · 49 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 8178.437 us (Expected < 1666.667 us) --> Read time : 161.178 us, Update time : 7474.463 us, Write time : 542.796 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 8178.437 us (Expected < 1666.667 us) --> Read time : 161.178 us, Update time : 7474.463 us, Write time : 542.796 us[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693640 ms (missed cycles : 6). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693640 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496826 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496826 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 4826.344 us (Expected < 1666.667 us) --> Read time : 265.913 us, Update time : 4066.467 us, Write time : 493.964 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 4826.344 us (Expected < 1666.667 us) --> Read time : 265.913 us, Update time : 4066.467 us, Write time : 493.964 us[0m ×2 + 1.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 1.70sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.71sINFOros2_control_node[2026-06-03 14:00:15.526] [info] Received new action goal ×2 + 1.71sINFOros2_control_node[2026-06-03 14:00:15.526] [info] Accepted new action goal ×2 + 2.03sINFOros2_control_node[2026-06-03 14:00:15.842] [info] Got request to cancel active goal. ×2 + 2.03sINFOros2_control_node[2026-06-03 14:00:15.842] [info] Canceling active goal... ×2 + 2.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780495215.85918593 seconds ×3 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522731 ms (missed cycles : 3). + 2.11sWARNcontroller_managerOverrun might occur, Total time : 4861.236 us (Expected < 1666.667 us) --> Read time : 188.819 us, Update time : 4118.960 us, Write time : 553.457 us + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522731 ms (missed cycles : 3).[0m ×2 + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 4861.236 us (Expected < 1666.667 us) --> Read time : 188.819 us, Update time : 4118.960 us, Write time : 553.457 us[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780495216.42135596 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780495216.55151176 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.139453 ms (missed cycles : 7). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.139453 ms (missed cycles : 7).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780495217.14217043 seconds. ×3 + 3.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.66sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.70sWARNcontroller_managerOverrun might occur, Total time : 5260.996 us (Expected < 1666.667 us) --> Read time : 4366.122 us, Update time : 118.216 us, Write time : 776.658 us + 3.70sWARNros2_control_nodeOverrun might occur, Total time : 5260.996 us (Expected < 1666.667 us) --> Read time : 4366.122 us, Update time : 118.216 us, Write time : 776.658 us[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161715 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161715 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-06-03 14:00:18.336] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-06-03 14:00:18.336] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1926.763 us (Expected < 1666.667 us) --> Read time : 129.716 us, Update time : 766.977 us, Write time : 1030.070 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1926.763 us (Expected < 1666.667 us) --> Read time : 129.716 us, Update time : 766.977 us, Write time : 1030.070 us[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826247 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826247 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun might occur, Total time : 2043.238 us (Expected < 1666.667 us) --> Read time : 281.633 us, Update time : 90.824 us, Write time : 1670.781 us + 6.01sWARNros2_control_nodeOverrun might occur, Total time : 2043.238 us (Expected < 1666.667 us) --> Read time : 281.633 us, Update time : 90.824 us, Write time : 1670.781 us[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119126 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119126 ms (missed cycles : 2).[0m ×2
− skipped	AddBottlesToPlanningScene	addbottlestoplanningscene.xml	0.0s	3 errors · 39 warnings · 49 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 8178.437 us (Expected < 1666.667 us) --> Read time : 161.178 us, Update time : 7474.463 us, Write time : 542.796 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 8178.437 us (Expected < 1666.667 us) --> Read time : 161.178 us, Update time : 7474.463 us, Write time : 542.796 us[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693640 ms (missed cycles : 6). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693640 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496826 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496826 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 4826.344 us (Expected < 1666.667 us) --> Read time : 265.913 us, Update time : 4066.467 us, Write time : 493.964 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 4826.344 us (Expected < 1666.667 us) --> Read time : 265.913 us, Update time : 4066.467 us, Write time : 493.964 us[0m ×2 + 1.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 1.70sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.71sINFOros2_control_node[2026-06-03 14:00:15.526] [info] Received new action goal ×2 + 1.71sINFOros2_control_node[2026-06-03 14:00:15.526] [info] Accepted new action goal ×2 + 2.03sINFOros2_control_node[2026-06-03 14:00:15.842] [info] Got request to cancel active goal. ×2 + 2.03sINFOros2_control_node[2026-06-03 14:00:15.842] [info] Canceling active goal... ×2 + 2.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780495215.85918593 seconds ×3 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522731 ms (missed cycles : 3). + 2.11sWARNcontroller_managerOverrun might occur, Total time : 4861.236 us (Expected < 1666.667 us) --> Read time : 188.819 us, Update time : 4118.960 us, Write time : 553.457 us + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522731 ms (missed cycles : 3).[0m ×2 + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 4861.236 us (Expected < 1666.667 us) --> Read time : 188.819 us, Update time : 4118.960 us, Write time : 553.457 us[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780495216.42135596 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780495216.55151176 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.139453 ms (missed cycles : 7). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.139453 ms (missed cycles : 7).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780495217.14217043 seconds. ×3 + 3.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.66sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.70sWARNcontroller_managerOverrun might occur, Total time : 5260.996 us (Expected < 1666.667 us) --> Read time : 4366.122 us, Update time : 118.216 us, Write time : 776.658 us + 3.70sWARNros2_control_nodeOverrun might occur, Total time : 5260.996 us (Expected < 1666.667 us) --> Read time : 4366.122 us, Update time : 118.216 us, Write time : 776.658 us[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161715 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161715 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-06-03 14:00:18.336] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-06-03 14:00:18.336] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1926.763 us (Expected < 1666.667 us) --> Read time : 129.716 us, Update time : 766.977 us, Write time : 1030.070 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1926.763 us (Expected < 1666.667 us) --> Read time : 129.716 us, Update time : 766.977 us, Write time : 1030.070 us[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826247 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826247 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun might occur, Total time : 2043.238 us (Expected < 1666.667 us) --> Read time : 281.633 us, Update time : 90.824 us, Write time : 1670.781 us + 6.01sWARNros2_control_nodeOverrun might occur, Total time : 2043.238 us (Expected < 1666.667 us) --> Read time : 281.633 us, Update time : 90.824 us, Write time : 1670.781 us[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119126 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119126 ms (missed cycles : 2).[0m ×2
− skipped	AddCollisionBoxInFrontOfEndEffector	addcollisionboxinfrontofendeffector.xml	0.0s	3 errors · 39 warnings · 49 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 8178.437 us (Expected < 1666.667 us) --> Read time : 161.178 us, Update time : 7474.463 us, Write time : 542.796 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 8178.437 us (Expected < 1666.667 us) --> Read time : 161.178 us, Update time : 7474.463 us, Write time : 542.796 us[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693640 ms (missed cycles : 6). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693640 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496826 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496826 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 4826.344 us (Expected < 1666.667 us) --> Read time : 265.913 us, Update time : 4066.467 us, Write time : 493.964 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 4826.344 us (Expected < 1666.667 us) --> Read time : 265.913 us, Update time : 4066.467 us, Write time : 493.964 us[0m ×2 + 1.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 1.70sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.71sINFOros2_control_node[2026-06-03 14:00:15.526] [info] Received new action goal ×2 + 1.71sINFOros2_control_node[2026-06-03 14:00:15.526] [info] Accepted new action goal ×2 + 2.03sINFOros2_control_node[2026-06-03 14:00:15.842] [info] Got request to cancel active goal. ×2 + 2.03sINFOros2_control_node[2026-06-03 14:00:15.842] [info] Canceling active goal... ×2 + 2.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780495215.85918593 seconds ×3 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522731 ms (missed cycles : 3). + 2.11sWARNcontroller_managerOverrun might occur, Total time : 4861.236 us (Expected < 1666.667 us) --> Read time : 188.819 us, Update time : 4118.960 us, Write time : 553.457 us + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522731 ms (missed cycles : 3).[0m ×2 + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 4861.236 us (Expected < 1666.667 us) --> Read time : 188.819 us, Update time : 4118.960 us, Write time : 553.457 us[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780495216.42135596 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780495216.55151176 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.139453 ms (missed cycles : 7). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.139453 ms (missed cycles : 7).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780495217.14217043 seconds. ×3 + 3.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.66sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.70sWARNcontroller_managerOverrun might occur, Total time : 5260.996 us (Expected < 1666.667 us) --> Read time : 4366.122 us, Update time : 118.216 us, Write time : 776.658 us + 3.70sWARNros2_control_nodeOverrun might occur, Total time : 5260.996 us (Expected < 1666.667 us) --> Read time : 4366.122 us, Update time : 118.216 us, Write time : 776.658 us[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161715 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161715 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-06-03 14:00:18.336] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-06-03 14:00:18.336] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1926.763 us (Expected < 1666.667 us) --> Read time : 129.716 us, Update time : 766.977 us, Write time : 1030.070 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1926.763 us (Expected < 1666.667 us) --> Read time : 129.716 us, Update time : 766.977 us, Write time : 1030.070 us[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826247 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826247 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun might occur, Total time : 2043.238 us (Expected < 1666.667 us) --> Read time : 281.633 us, Update time : 90.824 us, Write time : 1670.781 us + 6.01sWARNros2_control_nodeOverrun might occur, Total time : 2043.238 us (Expected < 1666.667 us) --> Read time : 281.633 us, Update time : 90.824 us, Write time : 1670.781 us[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119126 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119126 ms (missed cycles : 2).[0m ×2
− skipped	AddCollisionObjectToPlanningScene	addcollisionobjecttoplanningscene.xml	0.0s	3 errors · 39 warnings · 49 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 8178.437 us (Expected < 1666.667 us) --> Read time : 161.178 us, Update time : 7474.463 us, Write time : 542.796 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 8178.437 us (Expected < 1666.667 us) --> Read time : 161.178 us, Update time : 7474.463 us, Write time : 542.796 us[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693640 ms (missed cycles : 6). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693640 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496826 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496826 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 4826.344 us (Expected < 1666.667 us) --> Read time : 265.913 us, Update time : 4066.467 us, Write time : 493.964 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 4826.344 us (Expected < 1666.667 us) --> Read time : 265.913 us, Update time : 4066.467 us, Write time : 493.964 us[0m ×2 + 1.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 1.70sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.71sINFOros2_control_node[2026-06-03 14:00:15.526] [info] Received new action goal ×2 + 1.71sINFOros2_control_node[2026-06-03 14:00:15.526] [info] Accepted new action goal ×2 + 2.03sINFOros2_control_node[2026-06-03 14:00:15.842] [info] Got request to cancel active goal. ×2 + 2.03sINFOros2_control_node[2026-06-03 14:00:15.842] [info] Canceling active goal... ×2 + 2.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780495215.85918593 seconds ×3 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522731 ms (missed cycles : 3). + 2.11sWARNcontroller_managerOverrun might occur, Total time : 4861.236 us (Expected < 1666.667 us) --> Read time : 188.819 us, Update time : 4118.960 us, Write time : 553.457 us + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522731 ms (missed cycles : 3).[0m ×2 + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 4861.236 us (Expected < 1666.667 us) --> Read time : 188.819 us, Update time : 4118.960 us, Write time : 553.457 us[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780495216.42135596 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780495216.55151176 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.139453 ms (missed cycles : 7). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.139453 ms (missed cycles : 7).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780495217.14217043 seconds. ×3 + 3.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.66sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.70sWARNcontroller_managerOverrun might occur, Total time : 5260.996 us (Expected < 1666.667 us) --> Read time : 4366.122 us, Update time : 118.216 us, Write time : 776.658 us + 3.70sWARNros2_control_nodeOverrun might occur, Total time : 5260.996 us (Expected < 1666.667 us) --> Read time : 4366.122 us, Update time : 118.216 us, Write time : 776.658 us[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161715 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161715 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-06-03 14:00:18.336] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-06-03 14:00:18.336] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 1926.763 us (Expected < 1666.667 us) --> Read time : 129.716 us, Update time : 766.977 us, Write time : 1030.070 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 1926.763 us (Expected < 1666.667 us) --> Read time : 129.716 us, Update time : 766.977 us, Write time : 1030.070 us[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826247 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826247 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun might occur, Total time : 2043.238 us (Expected < 1666.667 us) --> Read time : 281.633 us, Update time : 90.824 us, Write time : 1670.781 us + 6.01sWARNros2_control_nodeOverrun might occur, Total time : 2043.238 us (Expected < 1666.667 us) --> Read time : 281.633 us, Update time : 90.824 us, Write time : 1670.781 us[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119126 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119126 ms (missed cycles : 2).[0m ×2
− skipped	ComputeLinkPoseFromWaypoint	computelinkposefromwaypoint.xml	0.0s	39 warnings · 50 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.26sWARNcontroller_managerOverrun might occur, Total time : 1689.162 us (Expected < 1666.667 us) --> Read time : 241.432 us, Update time : 56.833 us, Write time : 1390.897 us + 0.26sWARNros2_control_nodeOverrun might occur, Total time : 1689.162 us (Expected < 1666.667 us) --> Read time : 241.432 us, Update time : 56.833 us, Write time : 1390.897 us[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213231 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213231 ms (missed cycles : 4).[0m ×2 + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.42sINFOros2_control_node[2026-06-03 14:00:44.898] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-06-03 14:00:44.898] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756048 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756048 ms (missed cycles : 2).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 5229.573 us (Expected < 1666.667 us) --> Read time : 289.504 us, Update time : 103.785 us, Write time : 4836.284 us + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 5229.573 us (Expected < 1666.667 us) --> Read time : 289.504 us, Update time : 103.785 us, Write time : 4836.284 us[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780495246.28476191 seconds ×3 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850385 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850385 ms (missed cycles : 2).[0m ×2 + 2.40sWARNcontroller_managerOverrun might occur, Total time : 2692.821 us (Expected < 1666.667 us) --> Read time : 1774.976 us, Update time : 62.933 us, Write time : 854.912 us + 2.40sWARNros2_control_nodeOverrun might occur, Total time : 2692.821 us (Expected < 1666.667 us) --> Read time : 1774.976 us, Update time : 62.933 us, Write time : 854.912 us[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780495246.88600111 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780495246.96614718 seconds ×3 + 2.82sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.82sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780495247.54095817 seconds. ×3 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.18sINFOros2_control_node[2026-06-03 14:00:47.655] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-06-03 14:00:47.655] [info] Accepted new action goal ×2 + 3.33sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.33sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314057 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314057 ms (missed cycles : 3).[0m ×2 + 3.50sWARNcontroller_managerOverrun might occur, Total time : 3116.741 us (Expected < 1666.667 us) --> Read time : 192.009 us, Update time : 2347.884 us, Write time : 576.848 us + 3.50sWARNros2_control_nodeOverrun might occur, Total time : 3116.741 us (Expected < 1666.667 us) --> Read time : 192.009 us, Update time : 2347.884 us, Write time : 576.848 us[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819161 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819161 ms (missed cycles : 2).[0m ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 4942.549 us (Expected < 1666.667 us) --> Read time : 158.747 us, Update time : 4140.451 us, Write time : 643.351 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 4942.549 us (Expected < 1666.667 us) --> Read time : 158.747 us, Update time : 4140.451 us, Write time : 643.351 us[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721537 ms (missed cycles : 6). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721537 ms (missed cycles : 6).[0m ×2 + 5.77sWARNcontroller_managerOverrun might occur, Total time : 2091.452 us (Expected < 1666.667 us) --> Read time : 275.103 us, Update time : 196.030 us, Write time : 1620.319 us + 5.77sWARNros2_control_nodeOverrun might occur, Total time : 2091.452 us (Expected < 1666.667 us) --> Read time : 275.103 us, Update time : 196.030 us, Write time : 1620.319 us[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333264 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333264 ms (missed cycles : 2).[0m ×2
− skipped	Constrained Pick and Place Subtree	constrained_pick_and_place_subtree.xml	0.0s	39 warnings · 50 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.26sWARNcontroller_managerOverrun might occur, Total time : 1689.162 us (Expected < 1666.667 us) --> Read time : 241.432 us, Update time : 56.833 us, Write time : 1390.897 us + 0.26sWARNros2_control_nodeOverrun might occur, Total time : 1689.162 us (Expected < 1666.667 us) --> Read time : 241.432 us, Update time : 56.833 us, Write time : 1390.897 us[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213231 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213231 ms (missed cycles : 4).[0m ×2 + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.42sINFOros2_control_node[2026-06-03 14:00:44.898] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-06-03 14:00:44.898] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756048 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756048 ms (missed cycles : 2).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 5229.573 us (Expected < 1666.667 us) --> Read time : 289.504 us, Update time : 103.785 us, Write time : 4836.284 us + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 5229.573 us (Expected < 1666.667 us) --> Read time : 289.504 us, Update time : 103.785 us, Write time : 4836.284 us[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780495246.28476191 seconds ×3 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850385 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850385 ms (missed cycles : 2).[0m ×2 + 2.40sWARNcontroller_managerOverrun might occur, Total time : 2692.821 us (Expected < 1666.667 us) --> Read time : 1774.976 us, Update time : 62.933 us, Write time : 854.912 us + 2.40sWARNros2_control_nodeOverrun might occur, Total time : 2692.821 us (Expected < 1666.667 us) --> Read time : 1774.976 us, Update time : 62.933 us, Write time : 854.912 us[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780495246.88600111 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780495246.96614718 seconds ×3 + 2.82sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.82sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780495247.54095817 seconds. ×3 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.18sINFOros2_control_node[2026-06-03 14:00:47.655] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-06-03 14:00:47.655] [info] Accepted new action goal ×2 + 3.33sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.33sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314057 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314057 ms (missed cycles : 3).[0m ×2 + 3.50sWARNcontroller_managerOverrun might occur, Total time : 3116.741 us (Expected < 1666.667 us) --> Read time : 192.009 us, Update time : 2347.884 us, Write time : 576.848 us + 3.50sWARNros2_control_nodeOverrun might occur, Total time : 3116.741 us (Expected < 1666.667 us) --> Read time : 192.009 us, Update time : 2347.884 us, Write time : 576.848 us[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819161 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819161 ms (missed cycles : 2).[0m ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 4942.549 us (Expected < 1666.667 us) --> Read time : 158.747 us, Update time : 4140.451 us, Write time : 643.351 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 4942.549 us (Expected < 1666.667 us) --> Read time : 158.747 us, Update time : 4140.451 us, Write time : 643.351 us[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721537 ms (missed cycles : 6). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721537 ms (missed cycles : 6).[0m ×2 + 5.77sWARNcontroller_managerOverrun might occur, Total time : 2091.452 us (Expected < 1666.667 us) --> Read time : 275.103 us, Update time : 196.030 us, Write time : 1620.319 us + 5.77sWARNros2_control_nodeOverrun might occur, Total time : 2091.452 us (Expected < 1666.667 us) --> Read time : 275.103 us, Update time : 196.030 us, Write time : 1620.319 us[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333264 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333264 ms (missed cycles : 2).[0m ×2
− skipped	Create PCL Poses Vector	create_pcl_poses_vector.xml	0.0s	39 warnings · 50 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.26sWARNcontroller_managerOverrun might occur, Total time : 1689.162 us (Expected < 1666.667 us) --> Read time : 241.432 us, Update time : 56.833 us, Write time : 1390.897 us + 0.26sWARNros2_control_nodeOverrun might occur, Total time : 1689.162 us (Expected < 1666.667 us) --> Read time : 241.432 us, Update time : 56.833 us, Write time : 1390.897 us[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213231 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213231 ms (missed cycles : 4).[0m ×2 + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.42sINFOros2_control_node[2026-06-03 14:00:44.898] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-06-03 14:00:44.898] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756048 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756048 ms (missed cycles : 2).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 5229.573 us (Expected < 1666.667 us) --> Read time : 289.504 us, Update time : 103.785 us, Write time : 4836.284 us + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 5229.573 us (Expected < 1666.667 us) --> Read time : 289.504 us, Update time : 103.785 us, Write time : 4836.284 us[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780495246.28476191 seconds ×3 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850385 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850385 ms (missed cycles : 2).[0m ×2 + 2.40sWARNcontroller_managerOverrun might occur, Total time : 2692.821 us (Expected < 1666.667 us) --> Read time : 1774.976 us, Update time : 62.933 us, Write time : 854.912 us + 2.40sWARNros2_control_nodeOverrun might occur, Total time : 2692.821 us (Expected < 1666.667 us) --> Read time : 1774.976 us, Update time : 62.933 us, Write time : 854.912 us[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780495246.88600111 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780495246.96614718 seconds ×3 + 2.82sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.82sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780495247.54095817 seconds. ×3 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.18sINFOros2_control_node[2026-06-03 14:00:47.655] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-06-03 14:00:47.655] [info] Accepted new action goal ×2 + 3.33sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.33sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314057 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314057 ms (missed cycles : 3).[0m ×2 + 3.50sWARNcontroller_managerOverrun might occur, Total time : 3116.741 us (Expected < 1666.667 us) --> Read time : 192.009 us, Update time : 2347.884 us, Write time : 576.848 us + 3.50sWARNros2_control_nodeOverrun might occur, Total time : 3116.741 us (Expected < 1666.667 us) --> Read time : 192.009 us, Update time : 2347.884 us, Write time : 576.848 us[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819161 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819161 ms (missed cycles : 2).[0m ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 4942.549 us (Expected < 1666.667 us) --> Read time : 158.747 us, Update time : 4140.451 us, Write time : 643.351 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 4942.549 us (Expected < 1666.667 us) --> Read time : 158.747 us, Update time : 4140.451 us, Write time : 643.351 us[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721537 ms (missed cycles : 6). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721537 ms (missed cycles : 6).[0m ×2 + 5.77sWARNcontroller_managerOverrun might occur, Total time : 2091.452 us (Expected < 1666.667 us) --> Read time : 275.103 us, Update time : 196.030 us, Write time : 1620.319 us + 5.77sWARNros2_control_nodeOverrun might occur, Total time : 2091.452 us (Expected < 1666.667 us) --> Read time : 275.103 us, Update time : 196.030 us, Write time : 1620.319 us[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333264 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333264 ms (missed cycles : 2).[0m ×2
− skipped	Create Pose Vector	create_pose_vector.xml	0.0s	39 warnings · 50 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.26sWARNcontroller_managerOverrun might occur, Total time : 1689.162 us (Expected < 1666.667 us) --> Read time : 241.432 us, Update time : 56.833 us, Write time : 1390.897 us + 0.26sWARNros2_control_nodeOverrun might occur, Total time : 1689.162 us (Expected < 1666.667 us) --> Read time : 241.432 us, Update time : 56.833 us, Write time : 1390.897 us[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213231 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213231 ms (missed cycles : 4).[0m ×2 + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.42sINFOros2_control_node[2026-06-03 14:00:44.898] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-06-03 14:00:44.898] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756048 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756048 ms (missed cycles : 2).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 5229.573 us (Expected < 1666.667 us) --> Read time : 289.504 us, Update time : 103.785 us, Write time : 4836.284 us + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 5229.573 us (Expected < 1666.667 us) --> Read time : 289.504 us, Update time : 103.785 us, Write time : 4836.284 us[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780495246.28476191 seconds ×3 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850385 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850385 ms (missed cycles : 2).[0m ×2 + 2.40sWARNcontroller_managerOverrun might occur, Total time : 2692.821 us (Expected < 1666.667 us) --> Read time : 1774.976 us, Update time : 62.933 us, Write time : 854.912 us + 2.40sWARNros2_control_nodeOverrun might occur, Total time : 2692.821 us (Expected < 1666.667 us) --> Read time : 1774.976 us, Update time : 62.933 us, Write time : 854.912 us[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780495246.88600111 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780495246.96614718 seconds ×3 + 2.82sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.82sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780495247.54095817 seconds. ×3 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.18sINFOros2_control_node[2026-06-03 14:00:47.655] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-06-03 14:00:47.655] [info] Accepted new action goal ×2 + 3.33sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.33sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314057 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314057 ms (missed cycles : 3).[0m ×2 + 3.50sWARNcontroller_managerOverrun might occur, Total time : 3116.741 us (Expected < 1666.667 us) --> Read time : 192.009 us, Update time : 2347.884 us, Write time : 576.848 us + 3.50sWARNros2_control_nodeOverrun might occur, Total time : 3116.741 us (Expected < 1666.667 us) --> Read time : 192.009 us, Update time : 2347.884 us, Write time : 576.848 us[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819161 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819161 ms (missed cycles : 2).[0m ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 4942.549 us (Expected < 1666.667 us) --> Read time : 158.747 us, Update time : 4140.451 us, Write time : 643.351 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 4942.549 us (Expected < 1666.667 us) --> Read time : 158.747 us, Update time : 4140.451 us, Write time : 643.351 us[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721537 ms (missed cycles : 6). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721537 ms (missed cycles : 6).[0m ×2 + 5.77sWARNcontroller_managerOverrun might occur, Total time : 2091.452 us (Expected < 1666.667 us) --> Read time : 275.103 us, Update time : 196.030 us, Write time : 1620.319 us + 5.77sWARNros2_control_nodeOverrun might occur, Total time : 2091.452 us (Expected < 1666.667 us) --> Read time : 275.103 us, Update time : 196.030 us, Write time : 1620.319 us[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333264 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333264 ms (missed cycles : 2).[0m ×2
− skipped	ErrorCheckVectorSize	errorcheckvectorsize.xml	0.0s	3 errors · 39 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4).[0m ×2 + 0.49sWARNcontroller_managerOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us + 0.49sWARNros2_control_nodeOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us[0m ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.61sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5).[0m ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5).[0m ×2 + 2.71sWARNcontroller_managerOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us + 2.71sWARNros2_control_nodeOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us[0m ×2 + 2.76sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Canceling active goal... ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495257.85378075 seconds ×3 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495258.60990453 seconds. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.87sWARNcontroller_managerOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us + 3.88sWARNros2_control_nodeOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.75sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us + 4.90sWARNros2_control_nodeOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8).[0m ×2
− skipped	Fit Bottle Model Subtree	fit_bottle_model_subtree.xml	0.0s	3 errors · 39 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4).[0m ×2 + 0.49sWARNcontroller_managerOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us + 0.49sWARNros2_control_nodeOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us[0m ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.61sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5).[0m ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5).[0m ×2 + 2.71sWARNcontroller_managerOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us + 2.71sWARNros2_control_nodeOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us[0m ×2 + 2.76sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Canceling active goal... ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495257.85378075 seconds ×3 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495258.60990453 seconds. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.87sWARNcontroller_managerOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us + 3.88sWARNros2_control_nodeOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.75sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us + 4.90sWARNros2_control_nodeOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8).[0m ×2
− skipped	Fuse Multiple Views Subtree	fuse_multiple_views_subtree.xml	0.0s	3 errors · 39 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4).[0m ×2 + 0.49sWARNcontroller_managerOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us + 0.49sWARNros2_control_nodeOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us[0m ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.61sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5).[0m ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5).[0m ×2 + 2.71sWARNcontroller_managerOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us + 2.71sWARNros2_control_nodeOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us[0m ×2 + 2.76sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Canceling active goal... ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495257.85378075 seconds ×3 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495258.60990453 seconds. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.87sWARNcontroller_managerOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us + 3.88sWARNros2_control_nodeOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.75sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us + 4.90sWARNros2_control_nodeOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8).[0m ×2
− skipped	Get AprilTag Pose from Image	get_april_tag_pose_from_image.xml	0.0s	3 errors · 39 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4).[0m ×2 + 0.49sWARNcontroller_managerOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us + 0.49sWARNros2_control_nodeOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us[0m ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.61sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5).[0m ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5).[0m ×2 + 2.71sWARNcontroller_managerOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us + 2.71sWARNros2_control_nodeOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us[0m ×2 + 2.76sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Canceling active goal... ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495257.85378075 seconds ×3 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495258.60990453 seconds. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.87sWARNcontroller_managerOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us + 3.88sWARNros2_control_nodeOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.75sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us + 4.90sWARNros2_control_nodeOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8).[0m ×2
− skipped	Get Bottle Grasp via ICP Subtree	get_bottle_grasp_via_icp_subtree.xml	0.0s	3 errors · 39 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4).[0m ×2 + 0.49sWARNcontroller_managerOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us + 0.49sWARNros2_control_nodeOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us[0m ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.61sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5).[0m ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5).[0m ×2 + 2.71sWARNcontroller_managerOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us + 2.71sWARNros2_control_nodeOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us[0m ×2 + 2.76sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Canceling active goal... ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495257.85378075 seconds ×3 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495258.60990453 seconds. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.87sWARNcontroller_managerOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us + 3.88sWARNros2_control_nodeOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.75sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us + 4.90sWARNros2_control_nodeOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8).[0m ×2
− skipped	Get Collision Free Grasp Subtree	get_collision_free_grasp_subtree.xml	0.0s	3 errors · 39 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4).[0m ×2 + 0.49sWARNcontroller_managerOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us + 0.49sWARNros2_control_nodeOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us[0m ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.61sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5).[0m ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5).[0m ×2 + 2.71sWARNcontroller_managerOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us + 2.71sWARNros2_control_nodeOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us[0m ×2 + 2.76sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Canceling active goal... ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495257.85378075 seconds ×3 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495258.60990453 seconds. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.87sWARNcontroller_managerOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us + 3.88sWARNros2_control_nodeOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.75sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us + 4.90sWARNros2_control_nodeOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8).[0m ×2
− skipped	GetPoseAtGripperandDisplay	get_pose_at_gripper_and_display.xml	0.0s	3 errors · 39 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4).[0m ×2 + 0.49sWARNcontroller_managerOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us + 0.49sWARNros2_control_nodeOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us[0m ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.61sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5).[0m ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5).[0m ×2 + 2.71sWARNcontroller_managerOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us + 2.71sWARNros2_control_nodeOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us[0m ×2 + 2.76sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Canceling active goal... ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495257.85378075 seconds ×3 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495258.60990453 seconds. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.87sWARNcontroller_managerOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us + 3.88sWARNros2_control_nodeOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.75sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us + 4.90sWARNros2_control_nodeOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8).[0m ×2
− skipped	Get Transform Frame Pose	get_transform_frame_pose.xml	0.0s	3 errors · 39 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4).[0m ×2 + 0.49sWARNcontroller_managerOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us + 0.49sWARNros2_control_nodeOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us[0m ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.61sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5).[0m ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5).[0m ×2 + 2.71sWARNcontroller_managerOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us + 2.71sWARNros2_control_nodeOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us[0m ×2 + 2.76sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Canceling active goal... ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495257.85378075 seconds ×3 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495258.60990453 seconds. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.87sWARNcontroller_managerOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us + 3.88sWARNros2_control_nodeOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.75sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us + 4.90sWARNros2_control_nodeOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8).[0m ×2
− skipped	Grasp Planning	grasp_planning.xml	0.0s	3 errors · 39 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295401 ms (missed cycles : 4).[0m ×2 + 0.49sWARNcontroller_managerOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us + 0.49sWARNros2_control_nodeOverrun might occur, Total time : 2299.161 us (Expected < 1666.667 us) --> Read time : 746.066 us, Update time : 70.283 us, Write time : 1482.812 us[0m ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.61sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-06-03 14:00:55.692] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898794 ms (missed cycles : 5).[0m ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 4855.416 us (Expected < 1666.667 us) --> Read time : 270.124 us, Update time : 4055.897 us, Write time : 529.395 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971409 ms (missed cycles : 5).[0m ×2 + 2.71sWARNcontroller_managerOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us + 2.71sWARNros2_control_nodeOverrun might occur, Total time : 9465.720 us (Expected < 1666.667 us) --> Read time : 165.858 us, Update time : 53.663 us, Write time : 9246.199 us[0m ×2 + 2.76sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-06-03 14:00:57.841] [info] Canceling active goal... ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495257.85378075 seconds ×3 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337811 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495258.60990453 seconds. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.81sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.87sWARNcontroller_managerOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us + 3.88sWARNros2_control_nodeOverrun might occur, Total time : 2156.625 us (Expected < 1666.667 us) --> Read time : 171.879 us, Update time : 59.573 us, Write time : 1925.173 us[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417429 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.75sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-03 14:00:59.837] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us + 4.90sWARNros2_control_nodeOverrun might occur, Total time : 2472.900 us (Expected < 1666.667 us) --> Read time : 292.245 us, Update time : 1722.673 us, Write time : 457.982 us[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476398 ms (missed cycles : 6).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 2671.739 us (Expected < 1666.667 us) --> Read time : 274.163 us, Update time : 811.049 us, Write time : 1586.527 us[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.840118 ms (missed cycles : 8).[0m ×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 2.391377 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391377 ms (missed cycles : 2).[0m ×2 + 0.58sWARNcontroller_managerOverrun might occur, Total time : 3958.292 us (Expected < 1666.667 us) --> Read time : 278.193 us, Update time : 3156.174 us, Write time : 523.925 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 3958.292 us (Expected < 1666.667 us) --> Read time : 278.193 us, Update time : 3156.174 us, Write time : 523.925 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.940067 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.940067 ms (missed cycles : 4).[0m ×2 + 1.82sWARNcontroller_managerOverrun might occur, Total time : 2020.639 us (Expected < 1666.667 us) --> Read time : 269.954 us, Update time : 738.185 us, Write time : 1012.500 us + 1.82sWARNros2_control_nodeOverrun might occur, Total time : 2020.639 us (Expected < 1666.667 us) --> Read time : 269.954 us, Update time : 738.185 us, Write time : 1012.500 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249870 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249870 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780495291.70264292 seconds ×3 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.75sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.95sWARNcontroller_managerOverrun might occur, Total time : 1980.226 us (Expected < 1666.667 us) --> Read time : 243.401 us, Update time : 1229.170 us, Write time : 507.655 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1980.226 us (Expected < 1666.667 us) --> Read time : 243.401 us, Update time : 1229.170 us, Write time : 507.655 us[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868187 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868187 ms (missed cycles : 5).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780495292.26031184 seconds. ×3 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sWARNcontroller_managerOverrun might occur, Total time : 4070.457 us (Expected < 1666.667 us) --> Read time : 265.023 us, Update time : 3179.794 us (Switch time : 3129.761 us (Switch chained mode time : 0.430 us, perform mode change time : 5.480 us, Activation time : 3112.461 us, Deactivation time : 0.440 us)), Write time : 625.640 us + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 4070.457 us (Expected < 1666.667 us) --> Read time : 265.023 us, Update time : 3179.794 us (Switch time : 3129.761 us (Switch chained mode time : 0.430 us, perform mode change time : 5.480 us, Activation time : 3112.461 us, Deactivation time : 0.440 us)), Write time : 625.640 us[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780495292.33044457 seconds ×3 + 4.03sWARNcontroller_managerOverrun might occur, Total time : 3257.907 us (Expected < 1666.667 us) --> Read time : 280.263 us, Update time : 2376.365 us, Write time : 601.279 us + 4.03sWARNros2_control_nodeOverrun might occur, Total time : 3257.907 us (Expected < 1666.667 us) --> Read time : 280.263 us, Update time : 2376.365 us, Write time : 601.279 us[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780495292.99093080 seconds. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791734 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791734 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.17sINFOros2_control_node[2026-06-03 14:01:33.125] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-06-03 14:01:33.125] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun might occur, Total time : 3919.020 us (Expected < 1666.667 us) --> Read time : 177.689 us, Update time : 3163.223 us, Write time : 578.108 us + 5.08sWARNros2_control_nodeOverrun might occur, Total time : 3919.020 us (Expected < 1666.667 us) --> Read time : 177.689 us, Update time : 3163.223 us, Write time : 578.108 us[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496294 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496294 ms (missed cycles : 3).[0m ×2 + 6.08sWARNcontroller_managerOverrun might occur, Total time : 9537.364 us (Expected < 1666.667 us) --> Read time : 203.230 us, Update time : 79.764 us, Write time : 9254.370 us + 6.08sWARNros2_control_nodeOverrun might occur, Total time : 9537.364 us (Expected < 1666.667 us) --> Read time : 203.230 us, Update time : 79.764 us, Write time : 9254.370 us[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053019 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053019 ms (missed cycles : 2).[0m ×2 + 6.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780495295.13109899 seconds ×3
− skipped	ML Auto Grasp Object from Clicked Point	ml_auto_grasp_object_from_clicked_point.xml	0.0s	42 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868187 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868187 ms (missed cycles : 5).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780495292.26031184 seconds. ×3 + 0.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.29sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.29sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.29sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.30sWARNcontroller_managerOverrun might occur, Total time : 4070.457 us (Expected < 1666.667 us) --> Read time : 265.023 us, Update time : 3179.794 us (Switch time : 3129.761 us (Switch chained mode time : 0.430 us, perform mode change time : 5.480 us, Activation time : 3112.461 us, Deactivation time : 0.440 us)), Write time : 625.640 us + 0.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.30sWARNros2_control_nodeOverrun might occur, Total time : 4070.457 us (Expected < 1666.667 us) --> Read time : 265.023 us, Update time : 3179.794 us (Switch time : 3129.761 us (Switch chained mode time : 0.430 us, perform mode change time : 5.480 us, Activation time : 3112.461 us, Deactivation time : 0.440 us)), Write time : 625.640 us[0m ×2 + 0.30sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780495292.33044457 seconds ×3 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.96sWARNcontroller_managerOverrun might occur, Total time : 3257.907 us (Expected < 1666.667 us) --> Read time : 280.263 us, Update time : 2376.365 us, Write time : 601.279 us + 0.96sWARNros2_control_nodeOverrun might occur, Total time : 3257.907 us (Expected < 1666.667 us) --> Read time : 280.263 us, Update time : 2376.365 us, Write time : 601.279 us[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780495292.99093080 seconds. ×3 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791734 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791734 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 1.08sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 1.10sINFOros2_control_node[2026-06-03 14:01:33.125] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-06-03 14:01:33.125] [info] Accepted new action goal ×2 + 2.01sWARNcontroller_managerOverrun might occur, Total time : 3919.020 us (Expected < 1666.667 us) --> Read time : 177.689 us, Update time : 3163.223 us, Write time : 578.108 us + 2.01sWARNros2_control_nodeOverrun might occur, Total time : 3919.020 us (Expected < 1666.667 us) --> Read time : 177.689 us, Update time : 3163.223 us, Write time : 578.108 us[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496294 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496294 ms (missed cycles : 3).[0m ×2 + 3.01sWARNcontroller_managerOverrun might occur, Total time : 9537.364 us (Expected < 1666.667 us) --> Read time : 203.230 us, Update time : 79.764 us, Write time : 9254.370 us + 3.01sWARNros2_control_nodeOverrun might occur, Total time : 9537.364 us (Expected < 1666.667 us) --> Read time : 203.230 us, Update time : 79.764 us, Write time : 9254.370 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053019 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053019 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780495295.13109899 seconds ×3 + 3.66sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780495295.68745875 seconds. ×3 + 3.74sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/moveit_pro_ui/switch_primary_view" + 3.74sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.79sINFOros2_control_node[2026-06-03 14:01:35.812] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-06-03 14:01:35.812] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun might occur, Total time : 1749.455 us (Expected < 1666.667 us) --> Read time : 834.820 us, Update time : 50.523 us, Write time : 864.112 us + 4.05sWARNros2_control_nodeOverrun might occur, Total time : 1749.455 us (Expected < 1666.667 us) --> Read time : 834.820 us, Update time : 50.523 us, Write time : 864.112 us[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031161 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031161 ms (missed cycles : 3).[0m ×2 + 5.08sWARNcontroller_managerOverrun might occur, Total time : 12106.028 us (Expected < 1666.667 us) --> Read time : 195.330 us, Update time : 11340.701 us, Write time : 569.997 us + 5.08sWARNros2_control_nodeOverrun might occur, Total time : 12106.028 us (Expected < 1666.667 us) --> Read time : 195.330 us, Update time : 11340.701 us, Write time : 569.997 us[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.617966 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.617966 ms (missed cycles : 6).[0m ×2 + 6.12sWARNcontroller_managerOverrun might occur, Total time : 1728.614 us (Expected < 1666.667 us) --> Read time : 296.535 us, Update time : 905.504 us, Write time : 526.575 us + 6.12sWARNros2_control_nodeOverrun might occur, Total time : 1728.614 us (Expected < 1666.667 us) --> Read time : 296.535 us, Update time : 905.504 us, Write time : 526.575 us[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.501403 ms (missed cycles : 6). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.501403 ms (missed cycles : 6).[0m ×2
− skipped	ML Find Bottles on Table from Image Exemplar	ml_find_bottles_on_table_from_image_exemplar.xml	0.0s	42 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868187 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868187 ms (missed cycles : 5).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780495292.26031184 seconds. ×3 + 0.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.29sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.29sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.29sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.30sWARNcontroller_managerOverrun might occur, Total time : 4070.457 us (Expected < 1666.667 us) --> Read time : 265.023 us, Update time : 3179.794 us (Switch time : 3129.761 us (Switch chained mode time : 0.430 us, perform mode change time : 5.480 us, Activation time : 3112.461 us, Deactivation time : 0.440 us)), Write time : 625.640 us + 0.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.30sWARNros2_control_nodeOverrun might occur, Total time : 4070.457 us (Expected < 1666.667 us) --> Read time : 265.023 us, Update time : 3179.794 us (Switch time : 3129.761 us (Switch chained mode time : 0.430 us, perform mode change time : 5.480 us, Activation time : 3112.461 us, Deactivation time : 0.440 us)), Write time : 625.640 us[0m ×2 + 0.30sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780495292.33044457 seconds ×3 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.96sWARNcontroller_managerOverrun might occur, Total time : 3257.907 us (Expected < 1666.667 us) --> Read time : 280.263 us, Update time : 2376.365 us, Write time : 601.279 us + 0.96sWARNros2_control_nodeOverrun might occur, Total time : 3257.907 us (Expected < 1666.667 us) --> Read time : 280.263 us, Update time : 2376.365 us, Write time : 601.279 us[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780495292.99093080 seconds. ×3 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791734 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791734 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 1.08sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 1.10sINFOros2_control_node[2026-06-03 14:01:33.125] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-06-03 14:01:33.125] [info] Accepted new action goal ×2 + 2.01sWARNcontroller_managerOverrun might occur, Total time : 3919.020 us (Expected < 1666.667 us) --> Read time : 177.689 us, Update time : 3163.223 us, Write time : 578.108 us + 2.01sWARNros2_control_nodeOverrun might occur, Total time : 3919.020 us (Expected < 1666.667 us) --> Read time : 177.689 us, Update time : 3163.223 us, Write time : 578.108 us[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496294 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496294 ms (missed cycles : 3).[0m ×2 + 3.01sWARNcontroller_managerOverrun might occur, Total time : 9537.364 us (Expected < 1666.667 us) --> Read time : 203.230 us, Update time : 79.764 us, Write time : 9254.370 us + 3.01sWARNros2_control_nodeOverrun might occur, Total time : 9537.364 us (Expected < 1666.667 us) --> Read time : 203.230 us, Update time : 79.764 us, Write time : 9254.370 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053019 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053019 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780495295.13109899 seconds ×3 + 3.66sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780495295.68745875 seconds. ×3 + 3.74sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/moveit_pro_ui/switch_primary_view" + 3.74sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.79sINFOros2_control_node[2026-06-03 14:01:35.812] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-06-03 14:01:35.812] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun might occur, Total time : 1749.455 us (Expected < 1666.667 us) --> Read time : 834.820 us, Update time : 50.523 us, Write time : 864.112 us + 4.05sWARNros2_control_nodeOverrun might occur, Total time : 1749.455 us (Expected < 1666.667 us) --> Read time : 834.820 us, Update time : 50.523 us, Write time : 864.112 us[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031161 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031161 ms (missed cycles : 3).[0m ×2 + 5.08sWARNcontroller_managerOverrun might occur, Total time : 12106.028 us (Expected < 1666.667 us) --> Read time : 195.330 us, Update time : 11340.701 us, Write time : 569.997 us + 5.08sWARNros2_control_nodeOverrun might occur, Total time : 12106.028 us (Expected < 1666.667 us) --> Read time : 195.330 us, Update time : 11340.701 us, Write time : 569.997 us[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.617966 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.617966 ms (missed cycles : 6).[0m ×2 + 6.12sWARNcontroller_managerOverrun might occur, Total time : 1728.614 us (Expected < 1666.667 us) --> Read time : 296.535 us, Update time : 905.504 us, Write time : 526.575 us + 6.12sWARNros2_control_nodeOverrun might occur, Total time : 1728.614 us (Expected < 1666.667 us) --> Read time : 296.535 us, Update time : 905.504 us, Write time : 526.575 us[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.501403 ms (missed cycles : 6). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.501403 ms (missed cycles : 6).[0m ×2
− skipped	ML Segment Image	ml_segment_image.xml	0.0s	39 warnings · 78 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780495302.99235487 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 1921.333 us (Expected < 1666.667 us) --> Read time : 884.233 us, Update time : 65.703 us, Write time : 971.397 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 1921.333 us (Expected < 1666.667 us) --> Read time : 884.233 us, Update time : 65.703 us, Write time : 971.397 us[0m ×2 + 0.35sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/masks_visualization" + 0.35sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/masks_visualization"[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.242452 ms (missed cycles : 7). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.242452 ms (missed cycles : 7).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780495303.59481454 seconds. ×3 + 0.86sINFOfoxglove_bridgeRemoving channel 73 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.86sINFOfoxglove_bridgeRemoving channel 73 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 0.86sINFOfoxglove_bridgeRemoving channel 72 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.86sINFOfoxglove_bridgeRemoving channel 72 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.17sINFOobjective_server_node[0;93m2026-06-03 14:01:44.163239568 [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 + 1.17sINFOobjective_server_node[0;93m2026-06-03 14:01:44.163281670 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.34sWARNcontroller_managerOverrun might occur, Total time : 9906.402 us (Expected < 1666.667 us) --> Read time : 203.690 us, Update time : 9127.704 us, Write time : 575.008 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 9906.402 us (Expected < 1666.667 us) --> Read time : 203.690 us, Update time : 9127.704 us, Write time : 575.008 us[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415328 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415328 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_node[0;93m2026-06-03 14:01:44.652506694 [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;93m2026-06-03 14:01:44.652548256 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.78sINFOobjective_server_node[0;93m2026-06-03 14:01:44.772553928 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-03 14:01:44.775899751 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-03 14:01:44.775943843 [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;93m2026-06-03 14:01:45.141198233 [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 + 2.16sINFOobjective_server_node[0;93m2026-06-03 14:01:45.156495194 [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 + 2.16sINFOobjective_server_node[0;93m2026-06-03 14:01:45.156531356 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 4894.377 us (Expected < 1666.667 us) --> Read time : 192.640 us, Update time : 4169.572 us, Write time : 532.165 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 4894.377 us (Expected < 1666.667 us) --> Read time : 192.640 us, Update time : 4169.572 us, Write time : 532.165 us[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683903 ms (missed cycles : 5). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683903 ms (missed cycles : 5).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780495306.00191402 seconds ×3 + 3.38sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization" + 3.38sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization"[0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370200 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370200 ms (missed cycles : 3).[0m ×2 + 3.52sWARNcontroller_managerOverrun might occur, Total time : 2195.186 us (Expected < 1666.667 us) --> Read time : 172.488 us, Update time : 1453.741 us, Write time : 568.957 us + 3.52sWARNros2_control_nodeOverrun might occur, Total time : 2195.186 us (Expected < 1666.667 us) --> Read time : 172.488 us, Update time : 1453.741 us, Write time : 568.957 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780495306.70009637 seconds. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.88sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893387 ms (missed cycles : 5). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893387 ms (missed cycles : 5).[0m ×2 + 4.55sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.56sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.59sWARNcontroller_managerOverrun might occur, Total time : 2124.443 us (Expected < 1666.667 us) --> Read time : 1604.858 us, Update time : 74.914 us, Write time : 444.671 us + 4.59sWARNros2_control_nodeOverrun might occur, Total time : 2124.443 us (Expected < 1666.667 us) --> Read time : 1604.858 us, Update time : 74.914 us, Write time : 444.671 us[0m ×2 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.89sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution" + 4.90sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution"[0m ×2 + 4.92sINFOros2_control_node[2026-06-03 14:01:47.907] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-06-03 14:01:47.907] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721297 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721297 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun might occur, Total time : 5693.754 us (Expected < 1666.667 us) --> Read time : 142.946 us, Update time : 4915.348 us, Write time : 635.460 us + 6.31sWARNros2_control_nodeOverrun might occur, Total time : 5693.754 us (Expected < 1666.667 us) --> Read time : 142.946 us, Update time : 4915.348 us, Write time : 635.460 us[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241777 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241777 ms (missed cycles : 4).[0m ×2
− skipped	ML Segment Image Loop	ml_segment_image_loop.xml	0.0s	39 warnings · 78 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780495302.99235487 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 1921.333 us (Expected < 1666.667 us) --> Read time : 884.233 us, Update time : 65.703 us, Write time : 971.397 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 1921.333 us (Expected < 1666.667 us) --> Read time : 884.233 us, Update time : 65.703 us, Write time : 971.397 us[0m ×2 + 0.35sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/masks_visualization" + 0.35sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/masks_visualization"[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.242452 ms (missed cycles : 7). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.242452 ms (missed cycles : 7).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780495303.59481454 seconds. ×3 + 0.86sINFOfoxglove_bridgeRemoving channel 73 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.86sINFOfoxglove_bridgeRemoving channel 73 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 0.86sINFOfoxglove_bridgeRemoving channel 72 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.86sINFOfoxglove_bridgeRemoving channel 72 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.17sINFOobjective_server_node[0;93m2026-06-03 14:01:44.163239568 [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 + 1.17sINFOobjective_server_node[0;93m2026-06-03 14:01:44.163281670 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.34sWARNcontroller_managerOverrun might occur, Total time : 9906.402 us (Expected < 1666.667 us) --> Read time : 203.690 us, Update time : 9127.704 us, Write time : 575.008 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 9906.402 us (Expected < 1666.667 us) --> Read time : 203.690 us, Update time : 9127.704 us, Write time : 575.008 us[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415328 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415328 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_node[0;93m2026-06-03 14:01:44.652506694 [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;93m2026-06-03 14:01:44.652548256 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.78sINFOobjective_server_node[0;93m2026-06-03 14:01:44.772553928 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-03 14:01:44.775899751 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-03 14:01:44.775943843 [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;93m2026-06-03 14:01:45.141198233 [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 + 2.16sINFOobjective_server_node[0;93m2026-06-03 14:01:45.156495194 [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 + 2.16sINFOobjective_server_node[0;93m2026-06-03 14:01:45.156531356 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 4894.377 us (Expected < 1666.667 us) --> Read time : 192.640 us, Update time : 4169.572 us, Write time : 532.165 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 4894.377 us (Expected < 1666.667 us) --> Read time : 192.640 us, Update time : 4169.572 us, Write time : 532.165 us[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683903 ms (missed cycles : 5). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683903 ms (missed cycles : 5).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780495306.00191402 seconds ×3 + 3.38sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization" + 3.38sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization"[0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370200 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370200 ms (missed cycles : 3).[0m ×2 + 3.52sWARNcontroller_managerOverrun might occur, Total time : 2195.186 us (Expected < 1666.667 us) --> Read time : 172.488 us, Update time : 1453.741 us, Write time : 568.957 us + 3.52sWARNros2_control_nodeOverrun might occur, Total time : 2195.186 us (Expected < 1666.667 us) --> Read time : 172.488 us, Update time : 1453.741 us, Write time : 568.957 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780495306.70009637 seconds. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.88sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893387 ms (missed cycles : 5). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893387 ms (missed cycles : 5).[0m ×2 + 4.55sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.56sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.59sWARNcontroller_managerOverrun might occur, Total time : 2124.443 us (Expected < 1666.667 us) --> Read time : 1604.858 us, Update time : 74.914 us, Write time : 444.671 us + 4.59sWARNros2_control_nodeOverrun might occur, Total time : 2124.443 us (Expected < 1666.667 us) --> Read time : 1604.858 us, Update time : 74.914 us, Write time : 444.671 us[0m ×2 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.89sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution" + 4.90sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution"[0m ×2 + 4.92sINFOros2_control_node[2026-06-03 14:01:47.907] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-06-03 14:01:47.907] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721297 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721297 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun might occur, Total time : 5693.754 us (Expected < 1666.667 us) --> Read time : 142.946 us, Update time : 4915.348 us, Write time : 635.460 us + 6.31sWARNros2_control_nodeOverrun might occur, Total time : 5693.754 us (Expected < 1666.667 us) --> Read time : 142.946 us, Update time : 4915.348 us, Write time : 635.460 us[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241777 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241777 ms (missed cycles : 4).[0m ×2
− skipped	ML Segment Point Cloud	ml_segment_point_cloud.xml	0.0s	39 warnings · 78 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780495302.99235487 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 1921.333 us (Expected < 1666.667 us) --> Read time : 884.233 us, Update time : 65.703 us, Write time : 971.397 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 1921.333 us (Expected < 1666.667 us) --> Read time : 884.233 us, Update time : 65.703 us, Write time : 971.397 us[0m ×2 + 0.35sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/masks_visualization" + 0.35sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/masks_visualization"[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.242452 ms (missed cycles : 7). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.242452 ms (missed cycles : 7).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780495303.59481454 seconds. ×3 + 0.86sINFOfoxglove_bridgeRemoving channel 73 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.86sINFOfoxglove_bridgeRemoving channel 73 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 0.86sINFOfoxglove_bridgeRemoving channel 72 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.86sINFOfoxglove_bridgeRemoving channel 72 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.17sINFOobjective_server_node[0;93m2026-06-03 14:01:44.163239568 [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 + 1.17sINFOobjective_server_node[0;93m2026-06-03 14:01:44.163281670 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.34sWARNcontroller_managerOverrun might occur, Total time : 9906.402 us (Expected < 1666.667 us) --> Read time : 203.690 us, Update time : 9127.704 us, Write time : 575.008 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 9906.402 us (Expected < 1666.667 us) --> Read time : 203.690 us, Update time : 9127.704 us, Write time : 575.008 us[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415328 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415328 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_node[0;93m2026-06-03 14:01:44.652506694 [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;93m2026-06-03 14:01:44.652548256 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.78sINFOobjective_server_node[0;93m2026-06-03 14:01:44.772553928 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-03 14:01:44.775899751 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-03 14:01:44.775943843 [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;93m2026-06-03 14:01:45.141198233 [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 + 2.16sINFOobjective_server_node[0;93m2026-06-03 14:01:45.156495194 [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 + 2.16sINFOobjective_server_node[0;93m2026-06-03 14:01:45.156531356 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 4894.377 us (Expected < 1666.667 us) --> Read time : 192.640 us, Update time : 4169.572 us, Write time : 532.165 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 4894.377 us (Expected < 1666.667 us) --> Read time : 192.640 us, Update time : 4169.572 us, Write time : 532.165 us[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683903 ms (missed cycles : 5). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683903 ms (missed cycles : 5).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780495306.00191402 seconds ×3 + 3.38sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization" + 3.38sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization"[0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370200 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370200 ms (missed cycles : 3).[0m ×2 + 3.52sWARNcontroller_managerOverrun might occur, Total time : 2195.186 us (Expected < 1666.667 us) --> Read time : 172.488 us, Update time : 1453.741 us, Write time : 568.957 us + 3.52sWARNros2_control_nodeOverrun might occur, Total time : 2195.186 us (Expected < 1666.667 us) --> Read time : 172.488 us, Update time : 1453.741 us, Write time : 568.957 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780495306.70009637 seconds. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.88sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893387 ms (missed cycles : 5). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893387 ms (missed cycles : 5).[0m ×2 + 4.55sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.56sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.59sWARNcontroller_managerOverrun might occur, Total time : 2124.443 us (Expected < 1666.667 us) --> Read time : 1604.858 us, Update time : 74.914 us, Write time : 444.671 us + 4.59sWARNros2_control_nodeOverrun might occur, Total time : 2124.443 us (Expected < 1666.667 us) --> Read time : 1604.858 us, Update time : 74.914 us, Write time : 444.671 us[0m ×2 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.89sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution" + 4.90sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution"[0m ×2 + 4.92sINFOros2_control_node[2026-06-03 14:01:47.907] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-06-03 14:01:47.907] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721297 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721297 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun might occur, Total time : 5693.754 us (Expected < 1666.667 us) --> Read time : 142.946 us, Update time : 4915.348 us, Write time : 635.460 us + 6.31sWARNros2_control_nodeOverrun might occur, Total time : 5693.754 us (Expected < 1666.667 us) --> Read time : 142.946 us, Update time : 4915.348 us, Write time : 635.460 us[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241777 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241777 ms (missed cycles : 4).[0m ×2
− skipped	Move Along Square	move_along_square.xml	0.0s	39 warnings · 78 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780495302.99235487 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 1921.333 us (Expected < 1666.667 us) --> Read time : 884.233 us, Update time : 65.703 us, Write time : 971.397 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 1921.333 us (Expected < 1666.667 us) --> Read time : 884.233 us, Update time : 65.703 us, Write time : 971.397 us[0m ×2 + 0.35sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/masks_visualization" + 0.35sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/masks_visualization"[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.242452 ms (missed cycles : 7). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.242452 ms (missed cycles : 7).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780495303.59481454 seconds. ×3 + 0.86sINFOfoxglove_bridgeRemoving channel 73 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.86sINFOfoxglove_bridgeRemoving channel 73 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 0.86sINFOfoxglove_bridgeRemoving channel 72 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.86sINFOfoxglove_bridgeRemoving channel 72 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.17sINFOobjective_server_node[0;93m2026-06-03 14:01:44.163239568 [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 + 1.17sINFOobjective_server_node[0;93m2026-06-03 14:01:44.163281670 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.34sWARNcontroller_managerOverrun might occur, Total time : 9906.402 us (Expected < 1666.667 us) --> Read time : 203.690 us, Update time : 9127.704 us, Write time : 575.008 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 9906.402 us (Expected < 1666.667 us) --> Read time : 203.690 us, Update time : 9127.704 us, Write time : 575.008 us[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415328 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415328 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_node[0;93m2026-06-03 14:01:44.652506694 [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;93m2026-06-03 14:01:44.652548256 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.78sINFOobjective_server_node[0;93m2026-06-03 14:01:44.772553928 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-03 14:01:44.775899751 [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 + 1.78sINFOobjective_server_node[0;93m2026-06-03 14:01:44.775943843 [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;93m2026-06-03 14:01:45.141198233 [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 + 2.16sINFOobjective_server_node[0;93m2026-06-03 14:01:45.156495194 [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 + 2.16sINFOobjective_server_node[0;93m2026-06-03 14:01:45.156531356 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 4894.377 us (Expected < 1666.667 us) --> Read time : 192.640 us, Update time : 4169.572 us, Write time : 532.165 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 4894.377 us (Expected < 1666.667 us) --> Read time : 192.640 us, Update time : 4169.572 us, Write time : 532.165 us[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683903 ms (missed cycles : 5). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683903 ms (missed cycles : 5).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780495306.00191402 seconds ×3 + 3.38sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization" + 3.38sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization"[0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370200 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370200 ms (missed cycles : 3).[0m ×2 + 3.52sWARNcontroller_managerOverrun might occur, Total time : 2195.186 us (Expected < 1666.667 us) --> Read time : 172.488 us, Update time : 1453.741 us, Write time : 568.957 us + 3.52sWARNros2_control_nodeOverrun might occur, Total time : 2195.186 us (Expected < 1666.667 us) --> Read time : 172.488 us, Update time : 1453.741 us, Write time : 568.957 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780495306.70009637 seconds. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.88sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893387 ms (missed cycles : 5). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893387 ms (missed cycles : 5).[0m ×2 + 4.55sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.56sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.59sWARNcontroller_managerOverrun might occur, Total time : 2124.443 us (Expected < 1666.667 us) --> Read time : 1604.858 us, Update time : 74.914 us, Write time : 444.671 us + 4.59sWARNros2_control_nodeOverrun might occur, Total time : 2124.443 us (Expected < 1666.667 us) --> Read time : 1604.858 us, Update time : 74.914 us, Write time : 444.671 us[0m ×2 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.89sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution" + 4.90sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution"[0m ×2 + 4.92sINFOros2_control_node[2026-06-03 14:01:47.907] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-06-03 14:01:47.907] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721297 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721297 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun might occur, Total time : 5693.754 us (Expected < 1666.667 us) --> Read time : 142.946 us, Update time : 4915.348 us, Write time : 635.460 us + 6.31sWARNros2_control_nodeOverrun might occur, Total time : 5693.754 us (Expected < 1666.667 us) --> Read time : 142.946 us, Update time : 4915.348 us, Write time : 635.460 us[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241777 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241777 ms (missed cycles : 4).[0m ×2
− skipped	MPC Pose Tracking	mpc_pose_tracking.xml	0.0s	42 warnings · 47 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.155358 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.155358 ms (missed cycles : 6).[0m ×2 + 0.01sWARNcontroller_managerOverrun might occur, Total time : 1754.665 us (Expected < 1666.667 us) --> Read time : 236.661 us, Update time : 480.994 us, Write time : 1037.010 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 1754.665 us (Expected < 1666.667 us) --> Read time : 236.661 us, Update time : 480.994 us, Write time : 1037.010 us[0m ×2 + 1.01sWARNcontroller_managerOverrun might occur, Total time : 2507.302 us (Expected < 1666.667 us) --> Read time : 197.200 us, Update time : 71.974 us, Write time : 2238.128 us + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984477 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun might occur, Total time : 2507.302 us (Expected < 1666.667 us) --> Read time : 197.200 us, Update time : 71.974 us, Write time : 2238.128 us[0m ×2 + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984477 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861568 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861568 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun might occur, Total time : 2954.673 us (Expected < 1666.667 us) --> Read time : 206.590 us, Update time : 71.413 us, Write time : 2676.670 us + 2.05sWARNros2_control_nodeOverrun might occur, Total time : 2954.673 us (Expected < 1666.667 us) --> Read time : 206.590 us, Update time : 71.413 us, Write time : 2676.670 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780495360.70656610 seconds ×3 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731510 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731510 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun might occur, Total time : 2045.470 us (Expected < 1666.667 us) --> Read time : 322.386 us, Update time : 62.473 us, Write time : 1660.611 us + 3.21sWARNros2_control_nodeOverrun might occur, Total time : 2045.470 us (Expected < 1666.667 us) --> Read time : 322.386 us, Update time : 62.473 us, Write time : 1660.611 us[0m ×2 + 3.46sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780495361.27007246 seconds. ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.64sINFOros2_control_node[2026-06-03 14:02:41.455] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-06-03 14:02:41.455] [info] Accepted new action goal ×2 + 3.74sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 3.74sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230901 ms (missed cycles : 4). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230901 ms (missed cycles : 4).[0m ×2 + 4.27sWARNcontroller_managerOverrun might occur, Total time : 3283.090 us (Expected < 1666.667 us) --> Read time : 179.539 us, Update time : 2530.373 us, Write time : 573.178 us + 4.27sWARNros2_control_nodeOverrun might occur, Total time : 3283.090 us (Expected < 1666.667 us) --> Read time : 179.539 us, Update time : 2530.373 us, Write time : 573.178 us[0m ×2 + 4.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.93sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerSuccessfully switched controllers! + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333304 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333304 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun might occur, Total time : 1800.477 us (Expected < 1666.667 us) --> Read time : 184.399 us, Update time : 737.546 us, Write time : 878.532 us + 5.28sWARNros2_control_nodeOverrun might occur, Total time : 1800.477 us (Expected < 1666.667 us) --> Read time : 184.399 us, Update time : 737.546 us, Write time : 878.532 us[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564864 ms (missed cycles : 3). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564864 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun might occur, Total time : 2071.051 us (Expected < 1666.667 us) --> Read time : 322.076 us, Update time : 797.168 us, Write time : 951.807 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 2071.051 us (Expected < 1666.667 us) --> Read time : 322.076 us, Update time : 797.168 us, Write time : 951.807 us[0m ×2
− skipped	MPC Pose Tracking With Point Cloud Avoidance	mpc_pose_tracking_with_point_cloud_avoidance.xml	0.0s	306 errors · 39 warnings · 408 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×101 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.461301042902917 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×202 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.461301042902917[0m ×2 + 0.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.875522539135318 + 0.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.875522539135318[0m ×2 + 0.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.293815311741202 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.293815311741202[0m ×2 + 0.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.713304774683589 + 0.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.713304774683589[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.304251968956780 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.304251968956780[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.600827195345143 + 0.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.600827195345143[0m ×2 + 0.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.600827195345076 + 0.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.600827195345076[0m ×2 + 0.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.086951612402562 + 0.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.086951612402562[0m ×2 + 0.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.499286998143123 + 0.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.499286998143123[0m ×2 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.300188840557535 + 0.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.300188840557535[0m ×2 + 0.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.688459797915645 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.688459797915645[0m ×2 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.039211086766116 + 0.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.039211086766116[0m ×2 + 0.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.603776634761438 + 0.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.603776634761438[0m ×2 + 0.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.778926814304198 + 0.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.778926814304198[0m ×2 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.267224385280327 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.267224385280327[0m ×2 + 0.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.898890886774573 + 0.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.898890886774573[0m ×2 + 0.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.482463915582499 + 0.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.482463915582499[0m ×2 + 0.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.008198678280089 + 0.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.008198678280089[0m ×2 + 0.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.584086795252185 + 0.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.584086795252185[0m ×2 + 0.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.802154231744294 + 0.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.802154231744294[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.300573319978437 + 0.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.300573319978437[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.746447763283083 ×2 + 0.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.746447763283083[0m ×4 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1756.705 us (Expected < 1666.667 us) --> Read time : 242.862 us, Update time : 495.404 us, Write time : 1018.439 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1756.705 us (Expected < 1666.667 us) --> Read time : 242.862 us, Update time : 495.404 us, Write time : 1018.439 us[0m ×2 + 0.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.040184652384609 + 0.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.040184652384609[0m ×2 + 0.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.823619404785472 + 0.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.823619404785472[0m ×2 + 0.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.208383254609489 + 0.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.208383254609489[0m ×2 + 0.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.732464094282294 + 0.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.732464094282294[0m ×2 + 0.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.165363413997726 + 0.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.165363413997726[0m ×2 + 0.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.538702823540504 + 0.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.538702823540504[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.005619167278805 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.005619167278805[0m ×2 + 0.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.022232363833295 + 0.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.022232363833295[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.506174905902913 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.506174905902913[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.809547358829402 + 0.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.809547358829402[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229714 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229714 ms (missed cycles : 2).[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.809547358829416 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.809547358829416[0m ×2 + 0.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.062828108993624 + 0.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.062828108993624[0m ×2 + 0.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.562436613504026 + 0.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.562436613504026[0m ×2 + 0.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.562436613504065 + 0.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.562436613504065[0m ×2 + 0.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.001207462333479 + 0.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.001207462333479[0m ×2 + 0.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.377712273445411 + 0.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.377712273445411[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.882639841654278 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.882639841654278[0m ×2 + 0.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.679508102066261 + 0.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.679508102066261[0m ×2 + 0.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.181609752476913 + 0.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.181609752476913[0m ×2 + 0.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.565953453216112 + 0.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.565953453216112[0m ×2 + 0.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.145074119538804 + 0.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.145074119538804[0m ×2 + 0.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.433346850413337 + 0.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.433346850413337[0m ×2 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.873211140719437 + 0.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.873211140719437[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.717184619436940 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.717184619436940[0m ×2 + 0.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.266957599222433 + 0.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.266957599222433[0m ×2 + 0.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.560392794535442 + 0.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.560392794535442[0m ×2 + 0.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.975619179366491 + 0.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.975619179366491[0m ×2 + 0.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.435230559289614 + 0.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.435230559289614[0m ×2 + 0.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.878095421085209 + 0.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.878095421085209[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.878095421085220 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.878095421085220[0m ×2 + 0.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.740939766890349 + 0.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.740939766890349[0m ×2 + 0.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.285370123107626 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.285370123107626[0m ×2 + 0.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.017767847256319 + 0.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.017767847256319[0m ×2 + 0.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.456112878620182 + 0.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.456112878620182[0m ×2 + 0.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.014348244817793 + 0.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.014348244817793[0m ×2 + 0.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.561209959988279 + 0.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.561209959988279[0m ×2 + 0.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.202702278332815 ×2 + 0.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.202702278332815[0m ×4 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.688565527634470 + 0.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.688565527634470[0m ×2 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.277121351289658 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.277121351289658[0m ×2 + 0.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.017266176932612 + 0.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.017266176932612[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.767427309612232 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.767427309612232[0m ×2 + 0.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.569035840389988 + 0.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.569035840389988[0m ×2 + 0.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.058744810138219 + 0.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.058744810138219[0m ×2 + 0.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.372355558806850 + 0.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.372355558806850[0m ×2 + 0.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.863803355917058 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.863803355917058[0m ×2 + 0.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.307608942726135 + 0.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.307608942726135[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.653206680139460 + 0.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.653206680139460[0m ×2 + 0.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.178170549394650 + 0.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.178170549394650[0m ×2 + 0.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.980743525557227 + 0.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.980743525557227[0m ×2 + 0.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.126384477987969 + 0.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.126384477987969[0m ×2 + 0.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.942037785339359 + 0.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.942037785339359[0m ×2 + 0.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.231100440471756 + 0.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.231100440471756[0m ×2 + 0.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.231100440471700 + 0.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.231100440471700[0m ×2 + 0.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.687818290730604 + 0.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.687818290730604[0m ×2 + 0.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.512256687374745 + 0.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.512256687374745[0m ×2 + 0.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.363090278165689 + 0.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.363090278165689[0m ×2 + 0.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.776148118216877 + 0.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.776148118216877[0m ×2 + 0.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.204188277579476 + 0.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.204188277579476[0m ×2 + 1.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.634494470365084 + 1.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.634494470365084[0m ×2 + 1.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.331923259010637 + 1.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.331923259010637[0m ×2 + 1.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.778825731005050 + 1.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.778825731005050[0m ×2 + 1.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.519075834106822 + 1.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.519075834106822[0m ×2 + 1.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.808343096897097 + 1.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.808343096897097[0m ×2 + 1.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.768697720144945 + 1.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.768697720144945[0m ×2 + 1.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.953529885856611 + 1.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.953529885856611[0m ×2 + 1.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.284734004780118 + 1.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.284734004780118[0m ×2 + 1.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.642490429321137 + 1.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.642490429321137[0m ×2 + 1.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.081976206067418 + 1.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.081976206067418[0m ×2 + 1.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.534724800511253 + 1.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.534724800511253[0m ×2 + 1.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.980964349394663 + 1.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.980964349394663[0m ×2 + 1.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.420910755734056 + 1.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.420910755734056[0m ×2 + 1.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.975848508557435 ×2 + 1.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.975848508557435[0m ×4 + 1.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.280820602929420 + 1.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.280820602929420[0m ×2 + 1.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.711793668963400 + 1.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.711793668963400[0m ×2 + 1.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.139033599699818 + 1.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.139033599699818[0m ×2 + 1.19sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780495392.35310864 seconds ×3 + 1.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.595236788440520 + 1.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.595236788440520[0m ×2 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.20sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.32sWARNcontroller_managerOverrun might occur, Total time : 5543.649 us (Expected < 1666.667 us) --> Read time : 193.669 us, Update time : 4780.962 us, Write time : 569.018 us + 1.32sWARNros2_control_nodeOverrun might occur, Total time : 5543.649 us (Expected < 1666.667 us) --> Read time : 193.669 us, Update time : 4780.962 us, Write time : 569.018 us[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288403 ms (missed cycles : 4). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288403 ms (missed cycles : 4).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780495393.02973104 seconds. ×3 + 1.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 1.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×3 + 1.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 1.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 2.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 2.02sINFOros2_control_node[2026-06-03 14:03:13.183] [info] Received new action goal ×2 + 2.02sINFOros2_control_node[2026-06-03 14:03:13.183] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 2.12sINFOobjective_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 + 2.14sINFOobjective_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 + 2.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.918700 ms (missed cycles : 6). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.918700 ms (missed cycles : 6).[0m ×2 + 2.79sWARNcontroller_managerOverrun might occur, Total time : 2263.449 us (Expected < 1666.667 us) --> Read time : 370.628 us, Update time : 532.586 us, Write time : 1360.235 us + 2.79sWARNros2_control_nodeOverrun might occur, Total time : 2263.449 us (Expected < 1666.667 us) --> Read time : 370.628 us, Update time : 532.586 us, Write time : 1360.235 us[0m ×2 + 3.27sERRORobjective_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 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780495394.43885612 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126467 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126467 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780495395.03163338 seconds. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.03sWARNcontroller_managerOverrun might occur, Total time : 1799.467 us (Expected < 1666.667 us) --> Read time : 542.106 us, Update time : 147.487 us, Write time : 1109.874 us + 4.03sWARNros2_control_nodeOverrun might occur, Total time : 1799.467 us (Expected < 1666.667 us) --> Read time : 542.106 us, Update time : 147.487 us, Write time : 1109.874 us[0m ×2 + 4.05sINFOros2_control_node[2026-06-03 14:03:15.213] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-03 14:03:15.215] [info] Accepted new action goal ×2 + 4.33sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view" + 4.34sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999008 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999008 ms (missed cycles : 3).[0m ×2 + 5.08sWARNcontroller_managerOverrun might occur, Total time : 2365.455 us (Expected < 1666.667 us) --> Read time : 311.175 us, Update time : 1308.144 us, Write time : 746.136 us + 5.08sWARNros2_control_nodeOverrun might occur, Total time : 2365.455 us (Expected < 1666.667 us) --> Read time : 311.175 us, Update time : 1308.144 us, Write time : 746.136 us[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628035 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628035 ms (missed cycles : 4).[0m ×2 + 6.14sWARNcontroller_managerOverrun might occur, Total time : 3316.401 us (Expected < 1666.667 us) --> Read time : 194.770 us, Update time : 2665.949 us, Write time : 455.682 us + 6.15sWARNros2_control_nodeOverrun might occur, Total time : 3316.401 us (Expected < 1666.667 us) --> Read time : 194.770 us, Update time : 2665.949 us, Write time : 455.682 us[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200081 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200081 ms (missed cycles : 4).[0m ×2 + 6.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 6.92sINFOros2_control_node[2026-06-03 14:03:18.090] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-06-03 14:03:18.090] [info] Accepted new action goal ×2
− skipped	Pick All Bottles with AprilTags	pick_all_bottles_with_apriltags.xml	0.0s	39 warnings · 36 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763081 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763081 ms (missed cycles : 3).[0m ×2 + 0.08sWARNcontroller_managerOverrun might occur, Total time : 6641.374 us (Expected < 1666.667 us) --> Read time : 276.593 us, Update time : 5823.334 us, Write time : 541.447 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 6641.374 us (Expected < 1666.667 us) --> Read time : 276.593 us, Update time : 5823.334 us, Write time : 541.447 us[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747823 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747823 ms (missed cycles : 3).[0m ×2 + 1.24sWARNcontroller_managerOverrun might occur, Total time : 3338.574 us (Expected < 1666.667 us) --> Read time : 312.116 us, Update time : 2419.518 us, Write time : 606.940 us + 1.25sWARNros2_control_nodeOverrun might occur, Total time : 3338.574 us (Expected < 1666.667 us) --> Read time : 312.116 us, Update time : 2419.518 us, Write time : 606.940 us[0m ×2 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024840 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024840 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2017.218 us (Expected < 1666.667 us) --> Read time : 867.942 us, Update time : 60.943 us, Write time : 1088.333 us + 2.33sWARNros2_control_nodeOverrun might occur, Total time : 2017.218 us (Expected < 1666.667 us) --> Read time : 867.942 us, Update time : 60.943 us, Write time : 1088.333 us[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780495456.36229086 seconds ×3 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.56sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474147 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474147 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780495457.13071823 seconds. ×3 + 3.39sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.39sINFOfoxglove_bridgeRemoving channel 80 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.39sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution" + 3.39sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.39sINFOfoxglove_bridgeRemoving channel 80 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.39sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution"[0m ×2 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.53sINFOros2_control_node[2026-06-03 14:04:17.339] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-06-03 14:04:17.339] [info] Accepted new action goal ×2 + 3.74sWARNcontroller_managerOverrun might occur, Total time : 4873.358 us (Expected < 1666.667 us) --> Read time : 198.560 us, Update time : 4224.556 us, Write time : 450.242 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 4873.358 us (Expected < 1666.667 us) --> Read time : 198.560 us, Update time : 4224.556 us, Write time : 450.242 us[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592279 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592279 ms (missed cycles : 2).[0m ×2 + 4.83sWARNcontroller_managerOverrun might occur, Total time : 2239.239 us (Expected < 1666.667 us) --> Read time : 292.534 us, Update time : 1427.070 us, Write time : 519.635 us + 4.84sWARNros2_control_nodeOverrun might occur, Total time : 2239.239 us (Expected < 1666.667 us) --> Read time : 292.534 us, Update time : 1427.070 us, Write time : 519.635 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958207 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958207 ms (missed cycles : 2).[0m ×2 + 5.87sWARNcontroller_managerOverrun might occur, Total time : 1742.805 us (Expected < 1666.667 us) --> Read time : 1260.762 us, Update time : 63.143 us, Write time : 418.900 us + 5.88sWARNros2_control_nodeOverrun might occur, Total time : 1742.805 us (Expected < 1666.667 us) --> Read time : 1260.762 us, Update time : 63.143 us, Write time : 418.900 us[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.952412 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.952412 ms (missed cycles : 8).[0m ×2
− skipped	Pick All Pill Bottles	pick_all_pill_bottles.xml	0.0s	39 warnings · 36 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763081 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763081 ms (missed cycles : 3).[0m ×2 + 0.08sWARNcontroller_managerOverrun might occur, Total time : 6641.374 us (Expected < 1666.667 us) --> Read time : 276.593 us, Update time : 5823.334 us, Write time : 541.447 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 6641.374 us (Expected < 1666.667 us) --> Read time : 276.593 us, Update time : 5823.334 us, Write time : 541.447 us[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747823 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747823 ms (missed cycles : 3).[0m ×2 + 1.24sWARNcontroller_managerOverrun might occur, Total time : 3338.574 us (Expected < 1666.667 us) --> Read time : 312.116 us, Update time : 2419.518 us, Write time : 606.940 us + 1.25sWARNros2_control_nodeOverrun might occur, Total time : 3338.574 us (Expected < 1666.667 us) --> Read time : 312.116 us, Update time : 2419.518 us, Write time : 606.940 us[0m ×2 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024840 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024840 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2017.218 us (Expected < 1666.667 us) --> Read time : 867.942 us, Update time : 60.943 us, Write time : 1088.333 us + 2.33sWARNros2_control_nodeOverrun might occur, Total time : 2017.218 us (Expected < 1666.667 us) --> Read time : 867.942 us, Update time : 60.943 us, Write time : 1088.333 us[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780495456.36229086 seconds ×3 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.56sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474147 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474147 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780495457.13071823 seconds. ×3 + 3.39sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.39sINFOfoxglove_bridgeRemoving channel 80 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.39sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution" + 3.39sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.39sINFOfoxglove_bridgeRemoving channel 80 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.39sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution"[0m ×2 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.53sINFOros2_control_node[2026-06-03 14:04:17.339] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-06-03 14:04:17.339] [info] Accepted new action goal ×2 + 3.74sWARNcontroller_managerOverrun might occur, Total time : 4873.358 us (Expected < 1666.667 us) --> Read time : 198.560 us, Update time : 4224.556 us, Write time : 450.242 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 4873.358 us (Expected < 1666.667 us) --> Read time : 198.560 us, Update time : 4224.556 us, Write time : 450.242 us[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592279 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592279 ms (missed cycles : 2).[0m ×2 + 4.83sWARNcontroller_managerOverrun might occur, Total time : 2239.239 us (Expected < 1666.667 us) --> Read time : 292.534 us, Update time : 1427.070 us, Write time : 519.635 us + 4.84sWARNros2_control_nodeOverrun might occur, Total time : 2239.239 us (Expected < 1666.667 us) --> Read time : 292.534 us, Update time : 1427.070 us, Write time : 519.635 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958207 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958207 ms (missed cycles : 2).[0m ×2 + 5.87sWARNcontroller_managerOverrun might occur, Total time : 1742.805 us (Expected < 1666.667 us) --> Read time : 1260.762 us, Update time : 63.143 us, Write time : 418.900 us + 5.88sWARNros2_control_nodeOverrun might occur, Total time : 1742.805 us (Expected < 1666.667 us) --> Read time : 1260.762 us, Update time : 63.143 us, Write time : 418.900 us[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.952412 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.952412 ms (missed cycles : 8).[0m ×2
− skipped	Pick from Pose	pick_from_pose.xml	0.0s	3 errors · 39 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1807.258 us (Expected < 1666.667 us) --> Read time : 161.008 us, Update time : 481.884 us, Write time : 1164.366 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1807.258 us (Expected < 1666.667 us) --> Read time : 161.008 us, Update time : 481.884 us, Write time : 1164.366 us[0m ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038573 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038573 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 6697.196 us (Expected < 1666.667 us) --> Read time : 241.491 us, Update time : 98.885 us, Write time : 6356.820 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 6697.196 us (Expected < 1666.667 us) --> Read time : 241.491 us, Update time : 98.885 us, Write time : 6356.820 us[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437162 ms (missed cycles : 4). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437162 ms (missed cycles : 4).[0m ×2 + 1.87sINFOros2_control_node[2026-06-03 14:04:26.090] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-06-03 14:04:26.090] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun might occur, Total time : 4069.688 us (Expected < 1666.667 us) --> Read time : 194.759 us, Update time : 34.132 us, Write time : 3840.797 us + 2.15sWARNros2_control_nodeOverrun might occur, Total time : 4069.688 us (Expected < 1666.667 us) --> Read time : 194.759 us, Update time : 34.132 us, Write time : 3840.797 us[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640565 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640565 ms (missed cycles : 6).[0m ×2 + 3.02sINFOros2_control_node[2026-06-03 14:04:27.241] [info] Got request to cancel active goal. ×2 + 3.02sINFOros2_control_node[2026-06-03 14:04:27.241] [info] Canceling active goal... ×2 + 3.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780495467.25103068 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.23sWARNcontroller_managerOverrun might occur, Total time : 4453.357 us (Expected < 1666.667 us) --> Read time : 229.571 us, Update time : 3672.069 us, Write time : 551.717 us + 3.24sWARNros2_control_nodeOverrun might occur, Total time : 4453.357 us (Expected < 1666.667 us) --> Read time : 229.571 us, Update time : 3672.069 us, Write time : 551.717 us[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584933 ms (missed cycles : 6). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584933 ms (missed cycles : 6).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780495467.84825420 seconds. ×3 + 3.64sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.64sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-06-03 14:04:28.013] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-06-03 14:04:28.014] [info] Accepted new action goal ×2 + 4.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.37sWARNcontroller_managerOverrun might occur, Total time : 3378.335 us (Expected < 1666.667 us) --> Read time : 201.810 us, Update time : 2568.435 us, Write time : 608.090 us + 4.37sWARNros2_control_nodeOverrun might occur, Total time : 3378.335 us (Expected < 1666.667 us) --> Read time : 201.810 us, Update time : 2568.435 us, Write time : 608.090 us[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649739 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649739 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun might occur, Total time : 1935.505 us (Expected < 1666.667 us) --> Read time : 170.739 us, Update time : 107.665 us, Write time : 1657.101 us + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 1935.505 us (Expected < 1666.667 us) --> Read time : 170.739 us, Update time : 107.665 us, Write time : 1657.101 us[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390544 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390544 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732358 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732358 ms (missed cycles : 2).[0m ×2
− skipped	Pick from Pose Vector	pick_from_pose_vector.xml	0.0s	3 errors · 39 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1807.258 us (Expected < 1666.667 us) --> Read time : 161.008 us, Update time : 481.884 us, Write time : 1164.366 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1807.258 us (Expected < 1666.667 us) --> Read time : 161.008 us, Update time : 481.884 us, Write time : 1164.366 us[0m ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038573 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038573 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 6697.196 us (Expected < 1666.667 us) --> Read time : 241.491 us, Update time : 98.885 us, Write time : 6356.820 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 6697.196 us (Expected < 1666.667 us) --> Read time : 241.491 us, Update time : 98.885 us, Write time : 6356.820 us[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437162 ms (missed cycles : 4). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437162 ms (missed cycles : 4).[0m ×2 + 1.87sINFOros2_control_node[2026-06-03 14:04:26.090] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-06-03 14:04:26.090] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun might occur, Total time : 4069.688 us (Expected < 1666.667 us) --> Read time : 194.759 us, Update time : 34.132 us, Write time : 3840.797 us + 2.15sWARNros2_control_nodeOverrun might occur, Total time : 4069.688 us (Expected < 1666.667 us) --> Read time : 194.759 us, Update time : 34.132 us, Write time : 3840.797 us[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640565 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640565 ms (missed cycles : 6).[0m ×2 + 3.02sINFOros2_control_node[2026-06-03 14:04:27.241] [info] Got request to cancel active goal. ×2 + 3.02sINFOros2_control_node[2026-06-03 14:04:27.241] [info] Canceling active goal... ×2 + 3.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780495467.25103068 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.23sWARNcontroller_managerOverrun might occur, Total time : 4453.357 us (Expected < 1666.667 us) --> Read time : 229.571 us, Update time : 3672.069 us, Write time : 551.717 us + 3.24sWARNros2_control_nodeOverrun might occur, Total time : 4453.357 us (Expected < 1666.667 us) --> Read time : 229.571 us, Update time : 3672.069 us, Write time : 551.717 us[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584933 ms (missed cycles : 6). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584933 ms (missed cycles : 6).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780495467.84825420 seconds. ×3 + 3.64sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.64sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-06-03 14:04:28.013] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-06-03 14:04:28.014] [info] Accepted new action goal ×2 + 4.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.37sWARNcontroller_managerOverrun might occur, Total time : 3378.335 us (Expected < 1666.667 us) --> Read time : 201.810 us, Update time : 2568.435 us, Write time : 608.090 us + 4.37sWARNros2_control_nodeOverrun might occur, Total time : 3378.335 us (Expected < 1666.667 us) --> Read time : 201.810 us, Update time : 2568.435 us, Write time : 608.090 us[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649739 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649739 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun might occur, Total time : 1935.505 us (Expected < 1666.667 us) --> Read time : 170.739 us, Update time : 107.665 us, Write time : 1657.101 us + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 1935.505 us (Expected < 1666.667 us) --> Read time : 170.739 us, Update time : 107.665 us, Write time : 1657.101 us[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390544 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390544 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732358 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732358 ms (missed cycles : 2).[0m ×2
− skipped	Pick from Pose With Approval	pick_from_pose_with_approval.xml	0.0s	3 errors · 39 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1807.258 us (Expected < 1666.667 us) --> Read time : 161.008 us, Update time : 481.884 us, Write time : 1164.366 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1807.258 us (Expected < 1666.667 us) --> Read time : 161.008 us, Update time : 481.884 us, Write time : 1164.366 us[0m ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038573 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038573 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 6697.196 us (Expected < 1666.667 us) --> Read time : 241.491 us, Update time : 98.885 us, Write time : 6356.820 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 6697.196 us (Expected < 1666.667 us) --> Read time : 241.491 us, Update time : 98.885 us, Write time : 6356.820 us[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437162 ms (missed cycles : 4). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437162 ms (missed cycles : 4).[0m ×2 + 1.87sINFOros2_control_node[2026-06-03 14:04:26.090] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-06-03 14:04:26.090] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun might occur, Total time : 4069.688 us (Expected < 1666.667 us) --> Read time : 194.759 us, Update time : 34.132 us, Write time : 3840.797 us + 2.15sWARNros2_control_nodeOverrun might occur, Total time : 4069.688 us (Expected < 1666.667 us) --> Read time : 194.759 us, Update time : 34.132 us, Write time : 3840.797 us[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640565 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640565 ms (missed cycles : 6).[0m ×2 + 3.02sINFOros2_control_node[2026-06-03 14:04:27.241] [info] Got request to cancel active goal. ×2 + 3.02sINFOros2_control_node[2026-06-03 14:04:27.241] [info] Canceling active goal... ×2 + 3.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780495467.25103068 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.23sWARNcontroller_managerOverrun might occur, Total time : 4453.357 us (Expected < 1666.667 us) --> Read time : 229.571 us, Update time : 3672.069 us, Write time : 551.717 us + 3.24sWARNros2_control_nodeOverrun might occur, Total time : 4453.357 us (Expected < 1666.667 us) --> Read time : 229.571 us, Update time : 3672.069 us, Write time : 551.717 us[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584933 ms (missed cycles : 6). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584933 ms (missed cycles : 6).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780495467.84825420 seconds. ×3 + 3.64sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.64sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-06-03 14:04:28.013] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-06-03 14:04:28.014] [info] Accepted new action goal ×2 + 4.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.37sWARNcontroller_managerOverrun might occur, Total time : 3378.335 us (Expected < 1666.667 us) --> Read time : 201.810 us, Update time : 2568.435 us, Write time : 608.090 us + 4.37sWARNros2_control_nodeOverrun might occur, Total time : 3378.335 us (Expected < 1666.667 us) --> Read time : 201.810 us, Update time : 2568.435 us, Write time : 608.090 us[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649739 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649739 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun might occur, Total time : 1935.505 us (Expected < 1666.667 us) --> Read time : 170.739 us, Update time : 107.665 us, Write time : 1657.101 us + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 1935.505 us (Expected < 1666.667 us) --> Read time : 170.739 us, Update time : 107.665 us, Write time : 1657.101 us[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390544 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390544 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732358 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732358 ms (missed cycles : 2).[0m ×2
− skipped	Pick object	pick_object.xml	0.0s	3 errors · 39 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1807.258 us (Expected < 1666.667 us) --> Read time : 161.008 us, Update time : 481.884 us, Write time : 1164.366 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1807.258 us (Expected < 1666.667 us) --> Read time : 161.008 us, Update time : 481.884 us, Write time : 1164.366 us[0m ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038573 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038573 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 6697.196 us (Expected < 1666.667 us) --> Read time : 241.491 us, Update time : 98.885 us, Write time : 6356.820 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 6697.196 us (Expected < 1666.667 us) --> Read time : 241.491 us, Update time : 98.885 us, Write time : 6356.820 us[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437162 ms (missed cycles : 4). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437162 ms (missed cycles : 4).[0m ×2 + 1.87sINFOros2_control_node[2026-06-03 14:04:26.090] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-06-03 14:04:26.090] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun might occur, Total time : 4069.688 us (Expected < 1666.667 us) --> Read time : 194.759 us, Update time : 34.132 us, Write time : 3840.797 us + 2.15sWARNros2_control_nodeOverrun might occur, Total time : 4069.688 us (Expected < 1666.667 us) --> Read time : 194.759 us, Update time : 34.132 us, Write time : 3840.797 us[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640565 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640565 ms (missed cycles : 6).[0m ×2 + 3.02sINFOros2_control_node[2026-06-03 14:04:27.241] [info] Got request to cancel active goal. ×2 + 3.02sINFOros2_control_node[2026-06-03 14:04:27.241] [info] Canceling active goal... ×2 + 3.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780495467.25103068 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.23sWARNcontroller_managerOverrun might occur, Total time : 4453.357 us (Expected < 1666.667 us) --> Read time : 229.571 us, Update time : 3672.069 us, Write time : 551.717 us + 3.24sWARNros2_control_nodeOverrun might occur, Total time : 4453.357 us (Expected < 1666.667 us) --> Read time : 229.571 us, Update time : 3672.069 us, Write time : 551.717 us[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584933 ms (missed cycles : 6). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584933 ms (missed cycles : 6).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780495467.84825420 seconds. ×3 + 3.64sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.64sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-06-03 14:04:28.013] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-06-03 14:04:28.014] [info] Accepted new action goal ×2 + 4.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.37sWARNcontroller_managerOverrun might occur, Total time : 3378.335 us (Expected < 1666.667 us) --> Read time : 201.810 us, Update time : 2568.435 us, Write time : 608.090 us + 4.37sWARNros2_control_nodeOverrun might occur, Total time : 3378.335 us (Expected < 1666.667 us) --> Read time : 201.810 us, Update time : 2568.435 us, Write time : 608.090 us[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649739 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649739 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun might occur, Total time : 1935.505 us (Expected < 1666.667 us) --> Read time : 170.739 us, Update time : 107.665 us, Write time : 1657.101 us + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 1935.505 us (Expected < 1666.667 us) --> Read time : 170.739 us, Update time : 107.665 us, Write time : 1657.101 us[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390544 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390544 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732358 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732358 ms (missed cycles : 2).[0m ×2
− skipped	Pick up Object	pick_up_cube.xml	0.0s	3 errors · 39 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1807.258 us (Expected < 1666.667 us) --> Read time : 161.008 us, Update time : 481.884 us, Write time : 1164.366 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1807.258 us (Expected < 1666.667 us) --> Read time : 161.008 us, Update time : 481.884 us, Write time : 1164.366 us[0m ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038573 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038573 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 6697.196 us (Expected < 1666.667 us) --> Read time : 241.491 us, Update time : 98.885 us, Write time : 6356.820 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 6697.196 us (Expected < 1666.667 us) --> Read time : 241.491 us, Update time : 98.885 us, Write time : 6356.820 us[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437162 ms (missed cycles : 4). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437162 ms (missed cycles : 4).[0m ×2 + 1.87sINFOros2_control_node[2026-06-03 14:04:26.090] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-06-03 14:04:26.090] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun might occur, Total time : 4069.688 us (Expected < 1666.667 us) --> Read time : 194.759 us, Update time : 34.132 us, Write time : 3840.797 us + 2.15sWARNros2_control_nodeOverrun might occur, Total time : 4069.688 us (Expected < 1666.667 us) --> Read time : 194.759 us, Update time : 34.132 us, Write time : 3840.797 us[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640565 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640565 ms (missed cycles : 6).[0m ×2 + 3.02sINFOros2_control_node[2026-06-03 14:04:27.241] [info] Got request to cancel active goal. ×2 + 3.02sINFOros2_control_node[2026-06-03 14:04:27.241] [info] Canceling active goal... ×2 + 3.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780495467.25103068 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.23sWARNcontroller_managerOverrun might occur, Total time : 4453.357 us (Expected < 1666.667 us) --> Read time : 229.571 us, Update time : 3672.069 us, Write time : 551.717 us + 3.24sWARNros2_control_nodeOverrun might occur, Total time : 4453.357 us (Expected < 1666.667 us) --> Read time : 229.571 us, Update time : 3672.069 us, Write time : 551.717 us[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584933 ms (missed cycles : 6). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584933 ms (missed cycles : 6).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780495467.84825420 seconds. ×3 + 3.64sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.64sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-06-03 14:04:28.013] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-06-03 14:04:28.014] [info] Accepted new action goal ×2 + 4.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.37sWARNcontroller_managerOverrun might occur, Total time : 3378.335 us (Expected < 1666.667 us) --> Read time : 201.810 us, Update time : 2568.435 us, Write time : 608.090 us + 4.37sWARNros2_control_nodeOverrun might occur, Total time : 3378.335 us (Expected < 1666.667 us) --> Read time : 201.810 us, Update time : 2568.435 us, Write time : 608.090 us[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649739 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649739 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun might occur, Total time : 1935.505 us (Expected < 1666.667 us) --> Read time : 170.739 us, Update time : 107.665 us, Write time : 1657.101 us + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 1935.505 us (Expected < 1666.667 us) --> Read time : 170.739 us, Update time : 107.665 us, Write time : 1657.101 us[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390544 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390544 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732358 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732358 ms (missed cycles : 2).[0m ×2
− skipped	Place at Pose	place_at_pose.xml	0.0s	3 errors · 39 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1807.258 us (Expected < 1666.667 us) --> Read time : 161.008 us, Update time : 481.884 us, Write time : 1164.366 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1807.258 us (Expected < 1666.667 us) --> Read time : 161.008 us, Update time : 481.884 us, Write time : 1164.366 us[0m ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038573 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038573 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 6697.196 us (Expected < 1666.667 us) --> Read time : 241.491 us, Update time : 98.885 us, Write time : 6356.820 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 6697.196 us (Expected < 1666.667 us) --> Read time : 241.491 us, Update time : 98.885 us, Write time : 6356.820 us[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437162 ms (missed cycles : 4). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437162 ms (missed cycles : 4).[0m ×2 + 1.87sINFOros2_control_node[2026-06-03 14:04:26.090] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-06-03 14:04:26.090] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun might occur, Total time : 4069.688 us (Expected < 1666.667 us) --> Read time : 194.759 us, Update time : 34.132 us, Write time : 3840.797 us + 2.15sWARNros2_control_nodeOverrun might occur, Total time : 4069.688 us (Expected < 1666.667 us) --> Read time : 194.759 us, Update time : 34.132 us, Write time : 3840.797 us[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640565 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640565 ms (missed cycles : 6).[0m ×2 + 3.02sINFOros2_control_node[2026-06-03 14:04:27.241] [info] Got request to cancel active goal. ×2 + 3.02sINFOros2_control_node[2026-06-03 14:04:27.241] [info] Canceling active goal... ×2 + 3.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780495467.25103068 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.23sWARNcontroller_managerOverrun might occur, Total time : 4453.357 us (Expected < 1666.667 us) --> Read time : 229.571 us, Update time : 3672.069 us, Write time : 551.717 us + 3.24sWARNros2_control_nodeOverrun might occur, Total time : 4453.357 us (Expected < 1666.667 us) --> Read time : 229.571 us, Update time : 3672.069 us, Write time : 551.717 us[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584933 ms (missed cycles : 6). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584933 ms (missed cycles : 6).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780495467.84825420 seconds. ×3 + 3.64sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.64sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-06-03 14:04:28.013] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-06-03 14:04:28.014] [info] Accepted new action goal ×2 + 4.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.37sWARNcontroller_managerOverrun might occur, Total time : 3378.335 us (Expected < 1666.667 us) --> Read time : 201.810 us, Update time : 2568.435 us, Write time : 608.090 us + 4.37sWARNros2_control_nodeOverrun might occur, Total time : 3378.335 us (Expected < 1666.667 us) --> Read time : 201.810 us, Update time : 2568.435 us, Write time : 608.090 us[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649739 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649739 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun might occur, Total time : 1935.505 us (Expected < 1666.667 us) --> Read time : 170.739 us, Update time : 107.665 us, Write time : 1657.101 us + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 1935.505 us (Expected < 1666.667 us) --> Read time : 170.739 us, Update time : 107.665 us, Write time : 1657.101 us[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390544 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390544 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732358 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732358 ms (missed cycles : 2).[0m ×2
− skipped	Place at Pose Vector	place_at_pose_vector.xml	0.0s	3 errors · 39 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1807.258 us (Expected < 1666.667 us) --> Read time : 161.008 us, Update time : 481.884 us, Write time : 1164.366 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1807.258 us (Expected < 1666.667 us) --> Read time : 161.008 us, Update time : 481.884 us, Write time : 1164.366 us[0m ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038573 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038573 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 6697.196 us (Expected < 1666.667 us) --> Read time : 241.491 us, Update time : 98.885 us, Write time : 6356.820 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 6697.196 us (Expected < 1666.667 us) --> Read time : 241.491 us, Update time : 98.885 us, Write time : 6356.820 us[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437162 ms (missed cycles : 4). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437162 ms (missed cycles : 4).[0m ×2 + 1.87sINFOros2_control_node[2026-06-03 14:04:26.090] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-06-03 14:04:26.090] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun might occur, Total time : 4069.688 us (Expected < 1666.667 us) --> Read time : 194.759 us, Update time : 34.132 us, Write time : 3840.797 us + 2.15sWARNros2_control_nodeOverrun might occur, Total time : 4069.688 us (Expected < 1666.667 us) --> Read time : 194.759 us, Update time : 34.132 us, Write time : 3840.797 us[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640565 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640565 ms (missed cycles : 6).[0m ×2 + 3.02sINFOros2_control_node[2026-06-03 14:04:27.241] [info] Got request to cancel active goal. ×2 + 3.02sINFOros2_control_node[2026-06-03 14:04:27.241] [info] Canceling active goal... ×2 + 3.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780495467.25103068 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.23sWARNcontroller_managerOverrun might occur, Total time : 4453.357 us (Expected < 1666.667 us) --> Read time : 229.571 us, Update time : 3672.069 us, Write time : 551.717 us + 3.24sWARNros2_control_nodeOverrun might occur, Total time : 4453.357 us (Expected < 1666.667 us) --> Read time : 229.571 us, Update time : 3672.069 us, Write time : 551.717 us[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584933 ms (missed cycles : 6). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584933 ms (missed cycles : 6).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780495467.84825420 seconds. ×3 + 3.64sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.64sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-06-03 14:04:28.013] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-06-03 14:04:28.014] [info] Accepted new action goal ×2 + 4.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.37sWARNcontroller_managerOverrun might occur, Total time : 3378.335 us (Expected < 1666.667 us) --> Read time : 201.810 us, Update time : 2568.435 us, Write time : 608.090 us + 4.37sWARNros2_control_nodeOverrun might occur, Total time : 3378.335 us (Expected < 1666.667 us) --> Read time : 201.810 us, Update time : 2568.435 us, Write time : 608.090 us[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649739 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649739 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun might occur, Total time : 1935.505 us (Expected < 1666.667 us) --> Read time : 170.739 us, Update time : 107.665 us, Write time : 1657.101 us + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 1935.505 us (Expected < 1666.667 us) --> Read time : 170.739 us, Update time : 107.665 us, Write time : 1657.101 us[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390544 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390544 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732358 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732358 ms (missed cycles : 2).[0m ×2
− skipped	Place at Pose with Approval	place_at_pose_with_approval.xml	0.0s	3 errors · 39 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1807.258 us (Expected < 1666.667 us) --> Read time : 161.008 us, Update time : 481.884 us, Write time : 1164.366 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1807.258 us (Expected < 1666.667 us) --> Read time : 161.008 us, Update time : 481.884 us, Write time : 1164.366 us[0m ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038573 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038573 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 6697.196 us (Expected < 1666.667 us) --> Read time : 241.491 us, Update time : 98.885 us, Write time : 6356.820 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 6697.196 us (Expected < 1666.667 us) --> Read time : 241.491 us, Update time : 98.885 us, Write time : 6356.820 us[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437162 ms (missed cycles : 4). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437162 ms (missed cycles : 4).[0m ×2 + 1.87sINFOros2_control_node[2026-06-03 14:04:26.090] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-06-03 14:04:26.090] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun might occur, Total time : 4069.688 us (Expected < 1666.667 us) --> Read time : 194.759 us, Update time : 34.132 us, Write time : 3840.797 us + 2.15sWARNros2_control_nodeOverrun might occur, Total time : 4069.688 us (Expected < 1666.667 us) --> Read time : 194.759 us, Update time : 34.132 us, Write time : 3840.797 us[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640565 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640565 ms (missed cycles : 6).[0m ×2 + 3.02sINFOros2_control_node[2026-06-03 14:04:27.241] [info] Got request to cancel active goal. ×2 + 3.02sINFOros2_control_node[2026-06-03 14:04:27.241] [info] Canceling active goal... ×2 + 3.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780495467.25103068 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.23sWARNcontroller_managerOverrun might occur, Total time : 4453.357 us (Expected < 1666.667 us) --> Read time : 229.571 us, Update time : 3672.069 us, Write time : 551.717 us + 3.24sWARNros2_control_nodeOverrun might occur, Total time : 4453.357 us (Expected < 1666.667 us) --> Read time : 229.571 us, Update time : 3672.069 us, Write time : 551.717 us[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584933 ms (missed cycles : 6). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584933 ms (missed cycles : 6).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780495467.84825420 seconds. ×3 + 3.64sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.64sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-06-03 14:04:28.013] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-06-03 14:04:28.014] [info] Accepted new action goal ×2 + 4.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.37sWARNcontroller_managerOverrun might occur, Total time : 3378.335 us (Expected < 1666.667 us) --> Read time : 201.810 us, Update time : 2568.435 us, Write time : 608.090 us + 4.37sWARNros2_control_nodeOverrun might occur, Total time : 3378.335 us (Expected < 1666.667 us) --> Read time : 201.810 us, Update time : 2568.435 us, Write time : 608.090 us[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649739 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649739 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun might occur, Total time : 1935.505 us (Expected < 1666.667 us) --> Read time : 170.739 us, Update time : 107.665 us, Write time : 1657.101 us + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 1935.505 us (Expected < 1666.667 us) --> Read time : 170.739 us, Update time : 107.665 us, Write time : 1657.101 us[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390544 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390544 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732358 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732358 ms (missed cycles : 2).[0m ×2
− skipped	Plan Move To Pose	plan_move_to_pose.xml	0.0s	3 errors · 36 warnings · 21 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 6172.332 us (Expected < 1666.667 us) --> Read time : 237.362 us, Update time : 5369.342 us, Write time : 565.628 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 6172.332 us (Expected < 1666.667 us) --> Read time : 237.362 us, Update time : 5369.342 us, Write time : 565.628 us[0m ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903635 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903635 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun might occur, Total time : 5696.858 us (Expected < 1666.667 us) --> Read time : 257.203 us, Update time : 4595.564 us, Write time : 844.091 us + 1.01sWARNros2_control_nodeOverrun might occur, Total time : 5696.858 us (Expected < 1666.667 us) --> Read time : 257.203 us, Update time : 4595.564 us, Write time : 844.091 us[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221501 ms (missed cycles : 4). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221501 ms (missed cycles : 4).[0m ×2 + 2.61sWARNcontroller_managerOverrun might occur, Total time : 2553.044 us (Expected < 1666.667 us) --> Read time : 161.448 us, Update time : 1910.053 us, Write time : 481.543 us + 2.61sWARNros2_control_nodeOverrun might occur, Total time : 2553.044 us (Expected < 1666.667 us) --> Read time : 161.448 us, Update time : 1910.053 us, Write time : 481.543 us[0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938618 ms (missed cycles : 3). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938618 ms (missed cycles : 3).[0m ×2 + 3.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780495478.33857799 seconds ×3 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780495478.89448905 seconds. ×3 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 1699.913 us (Expected < 1666.667 us) --> Read time : 241.592 us, Update time : 64.763 us, Write time : 1393.558 us + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 1699.913 us (Expected < 1666.667 us) --> Read time : 241.592 us, Update time : 64.763 us, Write time : 1393.558 us[0m ×2 + 3.76sINFOfoxglove_bridgeRemoving channel 82 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.76sINFOfoxglove_bridgeRemoving channel 82 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781646 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781646 ms (missed cycles : 3).[0m ×2 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.96sINFOros2_control_node[2026-06-03 14:04:39.157] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-06-03 14:04:39.157] [info] Accepted new action goal ×2 + 4.72sWARNcontroller_managerOverrun might occur, Total time : 6046.376 us (Expected < 1666.667 us) --> Read time : 272.893 us, Update time : 5203.885 us, Write time : 569.598 us + 4.73sWARNros2_control_nodeOverrun might occur, Total time : 6046.376 us (Expected < 1666.667 us) --> Read time : 272.893 us, Update time : 5203.885 us, Write time : 569.598 us[0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.945992 ms (missed cycles : 5). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.945992 ms (missed cycles : 5).[0m ×2 + 5.75sWARNcontroller_managerOverrun might occur, Total time : 4971.883 us (Expected < 1666.667 us) --> Read time : 839.301 us, Update time : 77.004 us, Write time : 4055.578 us + 5.75sWARNros2_control_nodeOverrun might occur, Total time : 4971.883 us (Expected < 1666.667 us) --> Read time : 839.301 us, Update time : 77.004 us, Write time : 4055.578 us[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597522 ms (missed cycles : 6). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597522 ms (missed cycles : 6).[0m ×2
− skipped	Push Button With a Trajectory	push_button_with_a_trajectory.xml	0.0s	33 warnings · 27 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015957 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015957 ms (missed cycles : 2).[0m ×2 + 0.19sWARNcontroller_managerOverrun might occur, Total time : 1891.141 us (Expected < 1666.667 us) --> Read time : 338.836 us, Update time : 1074.102 us, Write time : 478.203 us + 0.19sWARNros2_control_nodeOverrun might occur, Total time : 1891.141 us (Expected < 1666.667 us) --> Read time : 338.836 us, Update time : 1074.102 us, Write time : 478.203 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264531 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264531 ms (missed cycles : 5).[0m ×2 + 1.37sWARNcontroller_managerOverrun might occur, Total time : 2869.650 us (Expected < 1666.667 us) --> Read time : 182.139 us, Update time : 1926.964 us, Write time : 760.547 us + 1.37sWARNros2_control_nodeOverrun might occur, Total time : 2869.650 us (Expected < 1666.667 us) --> Read time : 182.139 us, Update time : 1926.964 us, Write time : 760.547 us[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.351852 ms (missed cycles : 7). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.351852 ms (missed cycles : 7).[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780495488.77053094 seconds ×3 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780495489.33355188 seconds. ×3 + 3.02sWARNcontroller_managerOverrun might occur, Total time : 1975.926 us (Expected < 1666.667 us) --> Read time : 312.285 us, Update time : 1135.665 us, Write time : 527.976 us + 3.02sWARNros2_control_nodeOverrun might occur, Total time : 1975.926 us (Expected < 1666.667 us) --> Read time : 312.285 us, Update time : 1135.665 us, Write time : 527.976 us[0m ×2 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.14sINFOros2_control_node[2026-06-03 14:04:49.468] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-06-03 14:04:49.468] [info] Accepted new action goal ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700930 ms (missed cycles : 6). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700930 ms (missed cycles : 6).[0m ×2 + 3.23sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution" + 3.23sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution"[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694407 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694407 ms (missed cycles : 2).[0m ×2 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 3860.477 us (Expected < 1666.667 us) --> Read time : 816.649 us, Update time : 79.344 us, Write time : 2964.484 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 3860.477 us (Expected < 1666.667 us) --> Read time : 816.649 us, Update time : 79.344 us, Write time : 2964.484 us[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049584 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049584 ms (missed cycles : 4).[0m ×2 + 5.30sWARNcontroller_managerOverrun might occur, Total time : 3049.547 us (Expected < 1666.667 us) --> Read time : 257.792 us, Update time : 2167.045 us, Write time : 624.710 us + 5.30sWARNros2_control_nodeOverrun might occur, Total time : 3049.547 us (Expected < 1666.667 us) --> Read time : 257.792 us, Update time : 2167.045 us, Write time : 624.710 us[0m ×2
− skipped	Record Square Trajectory	record_square_trajectory.xml	0.0s	3 errors · 42 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.192246 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.192246 ms (missed cycles : 7).[0m ×2 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 5671.525 us (Expected < 1666.667 us) --> Read time : 160.578 us, Update time : 32.201 us, Write time : 5478.746 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 5671.525 us (Expected < 1666.667 us) --> Read time : 160.578 us, Update time : 32.201 us, Write time : 5478.746 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035238 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035238 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 8345.374 us (Expected < 1666.667 us) --> Read time : 278.404 us, Update time : 7467.841 us, Write time : 599.129 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 8345.374 us (Expected < 1666.667 us) --> Read time : 278.404 us, Update time : 7467.841 us, Write time : 599.129 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908750 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908750 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun might occur, Total time : 5490.717 us (Expected < 1666.667 us) --> Read time : 239.702 us, Update time : 908.724 us, Write time : 4342.291 us + 2.33sWARNros2_control_nodeOverrun might occur, Total time : 5490.717 us (Expected < 1666.667 us) --> Read time : 239.702 us, Update time : 908.724 us, Write time : 4342.291 us[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343115 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343115 ms (missed cycles : 4).[0m ×2 + 3.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780495499.73458195 seconds ×3 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.15sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.52sWARNcontroller_managerOverrun might occur, Total time : 5025.484 us (Expected < 1666.667 us) --> Read time : 199.110 us, Update time : 4353.581 us, Write time : 472.793 us + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 5025.484 us (Expected < 1666.667 us) --> Read time : 199.110 us, Update time : 4353.581 us, Write time : 472.793 us[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780495500.38730192 seconds. ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.79sWARNcontroller_managerOverrun might occur, Total time : 3862.596 us (Expected < 1666.667 us) --> Read time : 165.908 us, Update time : 3003.825 us (Switch time : 2955.244 us (Switch chained mode time : 0.510 us, perform mode change time : 6.251 us, Activation time : 2942.533 us, Deactivation time : 0.480 us)), Write time : 692.863 us + 3.79sWARNros2_control_nodeOverrun might occur, Total time : 3862.596 us (Expected < 1666.667 us) --> Read time : 165.908 us, Update time : 3003.825 us (Switch time : 2955.244 us (Switch chained mode time : 0.510 us, perform mode change time : 6.251 us, Activation time : 2942.533 us, Deactivation time : 0.480 us)), Write time : 692.863 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780495500.47746730 seconds ×3 + 3.96sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.96sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919694 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919694 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780495501.03511405 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780495501.05737615 seconds ×3 + 4.77sWARNcontroller_managerOverrun might occur, Total time : 6074.014 us (Expected < 1666.667 us) --> Read time : 288.824 us, Update time : 36.612 us, Write time : 5748.578 us + 4.77sWARNros2_control_nodeOverrun might occur, Total time : 6074.014 us (Expected < 1666.667 us) --> Read time : 288.824 us, Update time : 36.612 us, Write time : 5748.578 us[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780495501.63115382 seconds. ×3 + 4.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.07sINFOros2_control_node[2026-06-03 14:05:01.756] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-06-03 14:05:01.756] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423945 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423945 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun might occur, Total time : 2346.764 us (Expected < 1666.667 us) --> Read time : 206.570 us, Update time : 1118.085 us, Write time : 1022.109 us + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669500 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun might occur, Total time : 2346.764 us (Expected < 1666.667 us) --> Read time : 206.570 us, Update time : 1118.085 us, Write time : 1022.109 us[0m ×2 + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669500 ms (missed cycles : 2).[0m ×2
− skipped	Reflect Poses Subtree	reflect_poses_subtree.xml	0.0s	3 errors · 42 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.192246 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.192246 ms (missed cycles : 7).[0m ×2 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 5671.525 us (Expected < 1666.667 us) --> Read time : 160.578 us, Update time : 32.201 us, Write time : 5478.746 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 5671.525 us (Expected < 1666.667 us) --> Read time : 160.578 us, Update time : 32.201 us, Write time : 5478.746 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035238 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035238 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 8345.374 us (Expected < 1666.667 us) --> Read time : 278.404 us, Update time : 7467.841 us, Write time : 599.129 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 8345.374 us (Expected < 1666.667 us) --> Read time : 278.404 us, Update time : 7467.841 us, Write time : 599.129 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908750 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908750 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun might occur, Total time : 5490.717 us (Expected < 1666.667 us) --> Read time : 239.702 us, Update time : 908.724 us, Write time : 4342.291 us + 2.33sWARNros2_control_nodeOverrun might occur, Total time : 5490.717 us (Expected < 1666.667 us) --> Read time : 239.702 us, Update time : 908.724 us, Write time : 4342.291 us[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343115 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343115 ms (missed cycles : 4).[0m ×2 + 3.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780495499.73458195 seconds ×3 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.15sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.52sWARNcontroller_managerOverrun might occur, Total time : 5025.484 us (Expected < 1666.667 us) --> Read time : 199.110 us, Update time : 4353.581 us, Write time : 472.793 us + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 5025.484 us (Expected < 1666.667 us) --> Read time : 199.110 us, Update time : 4353.581 us, Write time : 472.793 us[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780495500.38730192 seconds. ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.79sWARNcontroller_managerOverrun might occur, Total time : 3862.596 us (Expected < 1666.667 us) --> Read time : 165.908 us, Update time : 3003.825 us (Switch time : 2955.244 us (Switch chained mode time : 0.510 us, perform mode change time : 6.251 us, Activation time : 2942.533 us, Deactivation time : 0.480 us)), Write time : 692.863 us + 3.79sWARNros2_control_nodeOverrun might occur, Total time : 3862.596 us (Expected < 1666.667 us) --> Read time : 165.908 us, Update time : 3003.825 us (Switch time : 2955.244 us (Switch chained mode time : 0.510 us, perform mode change time : 6.251 us, Activation time : 2942.533 us, Deactivation time : 0.480 us)), Write time : 692.863 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780495500.47746730 seconds ×3 + 3.96sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.96sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919694 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919694 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780495501.03511405 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780495501.05737615 seconds ×3 + 4.77sWARNcontroller_managerOverrun might occur, Total time : 6074.014 us (Expected < 1666.667 us) --> Read time : 288.824 us, Update time : 36.612 us, Write time : 5748.578 us + 4.77sWARNros2_control_nodeOverrun might occur, Total time : 6074.014 us (Expected < 1666.667 us) --> Read time : 288.824 us, Update time : 36.612 us, Write time : 5748.578 us[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780495501.63115382 seconds. ×3 + 4.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.07sINFOros2_control_node[2026-06-03 14:05:01.756] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-06-03 14:05:01.756] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423945 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423945 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun might occur, Total time : 2346.764 us (Expected < 1666.667 us) --> Read time : 206.570 us, Update time : 1118.085 us, Write time : 1022.109 us + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669500 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun might occur, Total time : 2346.764 us (Expected < 1666.667 us) --> Read time : 206.570 us, Update time : 1118.085 us, Write time : 1022.109 us[0m ×2 + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669500 ms (missed cycles : 2).[0m ×2
− skipped	Register CAD Part	register_cad_part.xml	0.0s	3 errors · 42 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.192246 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.192246 ms (missed cycles : 7).[0m ×2 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 5671.525 us (Expected < 1666.667 us) --> Read time : 160.578 us, Update time : 32.201 us, Write time : 5478.746 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 5671.525 us (Expected < 1666.667 us) --> Read time : 160.578 us, Update time : 32.201 us, Write time : 5478.746 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035238 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035238 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 8345.374 us (Expected < 1666.667 us) --> Read time : 278.404 us, Update time : 7467.841 us, Write time : 599.129 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 8345.374 us (Expected < 1666.667 us) --> Read time : 278.404 us, Update time : 7467.841 us, Write time : 599.129 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908750 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908750 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun might occur, Total time : 5490.717 us (Expected < 1666.667 us) --> Read time : 239.702 us, Update time : 908.724 us, Write time : 4342.291 us + 2.33sWARNros2_control_nodeOverrun might occur, Total time : 5490.717 us (Expected < 1666.667 us) --> Read time : 239.702 us, Update time : 908.724 us, Write time : 4342.291 us[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343115 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343115 ms (missed cycles : 4).[0m ×2 + 3.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780495499.73458195 seconds ×3 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.15sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.52sWARNcontroller_managerOverrun might occur, Total time : 5025.484 us (Expected < 1666.667 us) --> Read time : 199.110 us, Update time : 4353.581 us, Write time : 472.793 us + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 5025.484 us (Expected < 1666.667 us) --> Read time : 199.110 us, Update time : 4353.581 us, Write time : 472.793 us[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780495500.38730192 seconds. ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.79sWARNcontroller_managerOverrun might occur, Total time : 3862.596 us (Expected < 1666.667 us) --> Read time : 165.908 us, Update time : 3003.825 us (Switch time : 2955.244 us (Switch chained mode time : 0.510 us, perform mode change time : 6.251 us, Activation time : 2942.533 us, Deactivation time : 0.480 us)), Write time : 692.863 us + 3.79sWARNros2_control_nodeOverrun might occur, Total time : 3862.596 us (Expected < 1666.667 us) --> Read time : 165.908 us, Update time : 3003.825 us (Switch time : 2955.244 us (Switch chained mode time : 0.510 us, perform mode change time : 6.251 us, Activation time : 2942.533 us, Deactivation time : 0.480 us)), Write time : 692.863 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780495500.47746730 seconds ×3 + 3.96sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.96sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919694 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919694 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780495501.03511405 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780495501.05737615 seconds ×3 + 4.77sWARNcontroller_managerOverrun might occur, Total time : 6074.014 us (Expected < 1666.667 us) --> Read time : 288.824 us, Update time : 36.612 us, Write time : 5748.578 us + 4.77sWARNros2_control_nodeOverrun might occur, Total time : 6074.014 us (Expected < 1666.667 us) --> Read time : 288.824 us, Update time : 36.612 us, Write time : 5748.578 us[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780495501.63115382 seconds. ×3 + 4.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.07sINFOros2_control_node[2026-06-03 14:05:01.756] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-06-03 14:05:01.756] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423945 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423945 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun might occur, Total time : 2346.764 us (Expected < 1666.667 us) --> Read time : 206.570 us, Update time : 1118.085 us, Write time : 1022.109 us + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669500 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun might occur, Total time : 2346.764 us (Expected < 1666.667 us) --> Read time : 206.570 us, Update time : 1118.085 us, Write time : 1022.109 us[0m ×2 + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669500 ms (missed cycles : 2).[0m ×2
− skipped	Register CAD Part Subtree	register_cad_part_subtree.xml	0.0s	3 errors · 42 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.192246 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.192246 ms (missed cycles : 7).[0m ×2 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 5671.525 us (Expected < 1666.667 us) --> Read time : 160.578 us, Update time : 32.201 us, Write time : 5478.746 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 5671.525 us (Expected < 1666.667 us) --> Read time : 160.578 us, Update time : 32.201 us, Write time : 5478.746 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035238 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035238 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 8345.374 us (Expected < 1666.667 us) --> Read time : 278.404 us, Update time : 7467.841 us, Write time : 599.129 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 8345.374 us (Expected < 1666.667 us) --> Read time : 278.404 us, Update time : 7467.841 us, Write time : 599.129 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908750 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908750 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun might occur, Total time : 5490.717 us (Expected < 1666.667 us) --> Read time : 239.702 us, Update time : 908.724 us, Write time : 4342.291 us + 2.33sWARNros2_control_nodeOverrun might occur, Total time : 5490.717 us (Expected < 1666.667 us) --> Read time : 239.702 us, Update time : 908.724 us, Write time : 4342.291 us[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343115 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343115 ms (missed cycles : 4).[0m ×2 + 3.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780495499.73458195 seconds ×3 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.15sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.52sWARNcontroller_managerOverrun might occur, Total time : 5025.484 us (Expected < 1666.667 us) --> Read time : 199.110 us, Update time : 4353.581 us, Write time : 472.793 us + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 5025.484 us (Expected < 1666.667 us) --> Read time : 199.110 us, Update time : 4353.581 us, Write time : 472.793 us[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780495500.38730192 seconds. ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.79sWARNcontroller_managerOverrun might occur, Total time : 3862.596 us (Expected < 1666.667 us) --> Read time : 165.908 us, Update time : 3003.825 us (Switch time : 2955.244 us (Switch chained mode time : 0.510 us, perform mode change time : 6.251 us, Activation time : 2942.533 us, Deactivation time : 0.480 us)), Write time : 692.863 us + 3.79sWARNros2_control_nodeOverrun might occur, Total time : 3862.596 us (Expected < 1666.667 us) --> Read time : 165.908 us, Update time : 3003.825 us (Switch time : 2955.244 us (Switch chained mode time : 0.510 us, perform mode change time : 6.251 us, Activation time : 2942.533 us, Deactivation time : 0.480 us)), Write time : 692.863 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780495500.47746730 seconds ×3 + 3.96sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.96sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919694 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919694 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780495501.03511405 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780495501.05737615 seconds ×3 + 4.77sWARNcontroller_managerOverrun might occur, Total time : 6074.014 us (Expected < 1666.667 us) --> Read time : 288.824 us, Update time : 36.612 us, Write time : 5748.578 us + 4.77sWARNros2_control_nodeOverrun might occur, Total time : 6074.014 us (Expected < 1666.667 us) --> Read time : 288.824 us, Update time : 36.612 us, Write time : 5748.578 us[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780495501.63115382 seconds. ×3 + 4.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.07sINFOros2_control_node[2026-06-03 14:05:01.756] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-06-03 14:05:01.756] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423945 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423945 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun might occur, Total time : 2346.764 us (Expected < 1666.667 us) --> Read time : 206.570 us, Update time : 1118.085 us, Write time : 1022.109 us + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669500 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun might occur, Total time : 2346.764 us (Expected < 1666.667 us) --> Read time : 206.570 us, Update time : 1118.085 us, Write time : 1022.109 us[0m ×2 + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669500 ms (missed cycles : 2).[0m ×2
− skipped	Scan Scene - Multiple Point Clouds	scan_scene_-_multiple_point_clouds.xml	0.0s	3 errors · 42 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035238 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035238 ms (missed cycles : 2).[0m ×2 + 0.16sWARNcontroller_managerOverrun might occur, Total time : 8345.374 us (Expected < 1666.667 us) --> Read time : 278.404 us, Update time : 7467.841 us, Write time : 599.129 us + 0.17sWARNros2_control_nodeOverrun might occur, Total time : 8345.374 us (Expected < 1666.667 us) --> Read time : 278.404 us, Update time : 7467.841 us, Write time : 599.129 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908750 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908750 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun might occur, Total time : 5490.717 us (Expected < 1666.667 us) --> Read time : 239.702 us, Update time : 908.724 us, Write time : 4342.291 us + 1.32sWARNros2_control_nodeOverrun might occur, Total time : 5490.717 us (Expected < 1666.667 us) --> Read time : 239.702 us, Update time : 908.724 us, Write time : 4342.291 us[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343115 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343115 ms (missed cycles : 4).[0m ×2 + 2.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780495499.73458195 seconds ×3 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.13sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.51sWARNcontroller_managerOverrun might occur, Total time : 5025.484 us (Expected < 1666.667 us) --> Read time : 199.110 us, Update time : 4353.581 us, Write time : 472.793 us + 2.51sWARNros2_control_nodeOverrun might occur, Total time : 5025.484 us (Expected < 1666.667 us) --> Read time : 199.110 us, Update time : 4353.581 us, Write time : 472.793 us[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780495500.38730192 seconds. ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.74sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.77sWARNcontroller_managerOverrun might occur, Total time : 3862.596 us (Expected < 1666.667 us) --> Read time : 165.908 us, Update time : 3003.825 us (Switch time : 2955.244 us (Switch chained mode time : 0.510 us, perform mode change time : 6.251 us, Activation time : 2942.533 us, Deactivation time : 0.480 us)), Write time : 692.863 us + 2.77sWARNros2_control_nodeOverrun might occur, Total time : 3862.596 us (Expected < 1666.667 us) --> Read time : 165.908 us, Update time : 3003.825 us (Switch time : 2955.244 us (Switch chained mode time : 0.510 us, perform mode change time : 6.251 us, Activation time : 2942.533 us, Deactivation time : 0.480 us)), Write time : 692.863 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780495500.47746730 seconds ×3 + 2.95sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.95sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919694 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919694 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780495501.03511405 seconds. ×3 + 3.36sINFOobjective_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 + 3.36sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780495501.05737615 seconds ×3 + 3.76sWARNcontroller_managerOverrun might occur, Total time : 6074.014 us (Expected < 1666.667 us) --> Read time : 288.824 us, Update time : 36.612 us, Write time : 5748.578 us + 3.76sWARNros2_control_nodeOverrun might occur, Total time : 6074.014 us (Expected < 1666.667 us) --> Read time : 288.824 us, Update time : 36.612 us, Write time : 5748.578 us[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780495501.63115382 seconds. ×3 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.06sINFOros2_control_node[2026-06-03 14:05:01.756] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-06-03 14:05:01.756] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423945 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423945 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 2346.764 us (Expected < 1666.667 us) --> Read time : 206.570 us, Update time : 1118.085 us, Write time : 1022.109 us + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669500 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 2346.764 us (Expected < 1666.667 us) --> Read time : 206.570 us, Update time : 1118.085 us, Write time : 1022.109 us[0m ×2 + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669500 ms (missed cycles : 2).[0m ×2 + 6.20sWARNcontroller_managerOverrun might occur, Total time : 5078.715 us (Expected < 1666.667 us) --> Read time : 189.849 us, Update time : 4256.026 us, Write time : 632.840 us + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332842 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun might occur, Total time : 5078.715 us (Expected < 1666.667 us) --> Read time : 189.849 us, Update time : 4256.026 us, Write time : 632.840 us[0m ×2 + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332842 ms (missed cycles : 4).[0m ×2
− skipped	Segment Bottle Subtree	segment_bottle_subtree.xml	0.0s	3 errors · 42 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035238 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035238 ms (missed cycles : 2).[0m ×2 + 0.16sWARNcontroller_managerOverrun might occur, Total time : 8345.374 us (Expected < 1666.667 us) --> Read time : 278.404 us, Update time : 7467.841 us, Write time : 599.129 us + 0.17sWARNros2_control_nodeOverrun might occur, Total time : 8345.374 us (Expected < 1666.667 us) --> Read time : 278.404 us, Update time : 7467.841 us, Write time : 599.129 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908750 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908750 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun might occur, Total time : 5490.717 us (Expected < 1666.667 us) --> Read time : 239.702 us, Update time : 908.724 us, Write time : 4342.291 us + 1.32sWARNros2_control_nodeOverrun might occur, Total time : 5490.717 us (Expected < 1666.667 us) --> Read time : 239.702 us, Update time : 908.724 us, Write time : 4342.291 us[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343115 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343115 ms (missed cycles : 4).[0m ×2 + 2.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780495499.73458195 seconds ×3 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.13sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.51sWARNcontroller_managerOverrun might occur, Total time : 5025.484 us (Expected < 1666.667 us) --> Read time : 199.110 us, Update time : 4353.581 us, Write time : 472.793 us + 2.51sWARNros2_control_nodeOverrun might occur, Total time : 5025.484 us (Expected < 1666.667 us) --> Read time : 199.110 us, Update time : 4353.581 us, Write time : 472.793 us[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780495500.38730192 seconds. ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.74sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.77sWARNcontroller_managerOverrun might occur, Total time : 3862.596 us (Expected < 1666.667 us) --> Read time : 165.908 us, Update time : 3003.825 us (Switch time : 2955.244 us (Switch chained mode time : 0.510 us, perform mode change time : 6.251 us, Activation time : 2942.533 us, Deactivation time : 0.480 us)), Write time : 692.863 us + 2.77sWARNros2_control_nodeOverrun might occur, Total time : 3862.596 us (Expected < 1666.667 us) --> Read time : 165.908 us, Update time : 3003.825 us (Switch time : 2955.244 us (Switch chained mode time : 0.510 us, perform mode change time : 6.251 us, Activation time : 2942.533 us, Deactivation time : 0.480 us)), Write time : 692.863 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780495500.47746730 seconds ×3 + 2.95sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.95sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919694 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919694 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780495501.03511405 seconds. ×3 + 3.36sINFOobjective_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 + 3.36sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780495501.05737615 seconds ×3 + 3.76sWARNcontroller_managerOverrun might occur, Total time : 6074.014 us (Expected < 1666.667 us) --> Read time : 288.824 us, Update time : 36.612 us, Write time : 5748.578 us + 3.76sWARNros2_control_nodeOverrun might occur, Total time : 6074.014 us (Expected < 1666.667 us) --> Read time : 288.824 us, Update time : 36.612 us, Write time : 5748.578 us[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780495501.63115382 seconds. ×3 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.06sINFOros2_control_node[2026-06-03 14:05:01.756] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-06-03 14:05:01.756] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423945 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423945 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 2346.764 us (Expected < 1666.667 us) --> Read time : 206.570 us, Update time : 1118.085 us, Write time : 1022.109 us + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669500 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 2346.764 us (Expected < 1666.667 us) --> Read time : 206.570 us, Update time : 1118.085 us, Write time : 1022.109 us[0m ×2 + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669500 ms (missed cycles : 2).[0m ×2 + 6.20sWARNcontroller_managerOverrun might occur, Total time : 5078.715 us (Expected < 1666.667 us) --> Read time : 189.849 us, Update time : 4256.026 us, Write time : 632.840 us + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332842 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun might occur, Total time : 5078.715 us (Expected < 1666.667 us) --> Read time : 189.849 us, Update time : 4256.026 us, Write time : 632.840 us[0m ×2 + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332842 ms (missed cycles : 4).[0m ×2
− skipped	Stitch Multiple Point Clouds Together	stitch_multiple_point_clouds_together.xml	0.0s	3 errors · 45 warnings · 65 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5271.206 us (Expected < 1666.667 us) --> Read time : 217.690 us, Update time : 112.636 us, Write time : 4940.880 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5271.206 us (Expected < 1666.667 us) --> Read time : 217.690 us, Update time : 112.636 us, Write time : 4940.880 us[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.443286 ms (missed cycles : 7). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.443286 ms (missed cycles : 7).[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 5612.082 us (Expected < 1666.667 us) --> Read time : 192.609 us, Update time : 4786.363 us, Write time : 633.110 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 5612.082 us (Expected < 1666.667 us) --> Read time : 192.609 us, Update time : 4786.363 us, Write time : 633.110 us[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228351 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228351 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun might occur, Total time : 2124.393 us (Expected < 1666.667 us) --> Read time : 241.111 us, Update time : 1463.281 us, Write time : 420.001 us + 2.17sWARNros2_control_nodeOverrun might occur, Total time : 2124.393 us (Expected < 1666.667 us) --> Read time : 241.111 us, Update time : 1463.281 us, Write time : 420.001 us[0m ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722645 ms (missed cycles : 3). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722645 ms (missed cycles : 3).[0m ×2 + 3.26sINFOros2_control_node[2026-06-03 14:05:11.845] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-06-03 14:05:11.845] [info] Canceling active goal... ×2 + 3.27sWARNcontroller_managerOverrun might occur, Total time : 2251.058 us (Expected < 1666.667 us) --> Read time : 208.230 us, Update time : 1549.725 us, Write time : 493.103 us + 3.27sWARNros2_control_nodeOverrun might occur, Total time : 2251.058 us (Expected < 1666.667 us) --> Read time : 208.230 us, Update time : 1549.725 us, Write time : 493.103 us[0m ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780495511.86425567 seconds ×3 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.077377 ms (missed cycles : 8). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.077377 ms (missed cycles : 8).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780495512.47416663 seconds. ×3 + 4.18sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event" + 4.18sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event"[0m ×2 + 4.35sWARNcontroller_managerOverrun might occur, Total time : 3735.401 us (Expected < 1666.667 us) --> Read time : 254.882 us, Update time : 3017.847 us, Write time : 462.672 us + 4.35sWARNros2_control_nodeOverrun might occur, Total time : 3735.401 us (Expected < 1666.667 us) --> Read time : 254.882 us, Update time : 3017.847 us, Write time : 462.672 us[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780495513.06432581 seconds ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.332520 ms (missed cycles : 7). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.332520 ms (missed cycles : 7).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780495513.63112664 seconds. ×3 + 5.05sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.05sINFOobjective_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 + 5.05sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.05sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780495513.63310981 seconds ×3 + 5.19sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 5.19sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg" + 5.19sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.19sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg"[0m ×2 + 5.54sWARNcontroller_managerOverrun might occur, Total time : 8276.192 us (Expected < 1666.667 us) --> Read time : 224.051 us, Update time : 7299.865 us, Write time : 752.276 us + 5.54sWARNros2_control_nodeOverrun might occur, Total time : 8276.192 us (Expected < 1666.667 us) --> Read time : 224.051 us, Update time : 7299.865 us, Write time : 752.276 us[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780495514.19157910 seconds. ×3 + 5.61sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780495514.19218850 seconds ×3 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123279 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123279 ms (missed cycles : 2).[0m ×2 + 5.69sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String) + 5.69sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780495514.76237297 seconds. ×3 + 6.55sWARNcontroller_managerOverrun might occur, Total time : 1783.807 us (Expected < 1666.667 us) --> Read time : 220.891 us, Update time : 1131.605 us, Write time : 431.311 us + 6.55sWARNros2_control_nodeOverrun might occur, Total time : 1783.807 us (Expected < 1666.667 us) --> Read time : 220.891 us, Update time : 1131.605 us, Write time : 431.311 us[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143870 ms (missed cycles : 5). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143870 ms (missed cycles : 5).[0m ×2 + 6.70sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures" + 6.70sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures"[0m ×2 + 6.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780495515.49250078 seconds ×3
− skipped	Take Wrist Camera Image	take_picture_with_wrist_camera.xml	0.0s	3 errors · 45 warnings · 65 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5271.206 us (Expected < 1666.667 us) --> Read time : 217.690 us, Update time : 112.636 us, Write time : 4940.880 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5271.206 us (Expected < 1666.667 us) --> Read time : 217.690 us, Update time : 112.636 us, Write time : 4940.880 us[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.443286 ms (missed cycles : 7). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.443286 ms (missed cycles : 7).[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 5612.082 us (Expected < 1666.667 us) --> Read time : 192.609 us, Update time : 4786.363 us, Write time : 633.110 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 5612.082 us (Expected < 1666.667 us) --> Read time : 192.609 us, Update time : 4786.363 us, Write time : 633.110 us[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228351 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228351 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun might occur, Total time : 2124.393 us (Expected < 1666.667 us) --> Read time : 241.111 us, Update time : 1463.281 us, Write time : 420.001 us + 2.17sWARNros2_control_nodeOverrun might occur, Total time : 2124.393 us (Expected < 1666.667 us) --> Read time : 241.111 us, Update time : 1463.281 us, Write time : 420.001 us[0m ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722645 ms (missed cycles : 3). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722645 ms (missed cycles : 3).[0m ×2 + 3.26sINFOros2_control_node[2026-06-03 14:05:11.845] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-06-03 14:05:11.845] [info] Canceling active goal... ×2 + 3.27sWARNcontroller_managerOverrun might occur, Total time : 2251.058 us (Expected < 1666.667 us) --> Read time : 208.230 us, Update time : 1549.725 us, Write time : 493.103 us + 3.27sWARNros2_control_nodeOverrun might occur, Total time : 2251.058 us (Expected < 1666.667 us) --> Read time : 208.230 us, Update time : 1549.725 us, Write time : 493.103 us[0m ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780495511.86425567 seconds ×3 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.077377 ms (missed cycles : 8). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.077377 ms (missed cycles : 8).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780495512.47416663 seconds. ×3 + 4.18sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event" + 4.18sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event"[0m ×2 + 4.35sWARNcontroller_managerOverrun might occur, Total time : 3735.401 us (Expected < 1666.667 us) --> Read time : 254.882 us, Update time : 3017.847 us, Write time : 462.672 us + 4.35sWARNros2_control_nodeOverrun might occur, Total time : 3735.401 us (Expected < 1666.667 us) --> Read time : 254.882 us, Update time : 3017.847 us, Write time : 462.672 us[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780495513.06432581 seconds ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.332520 ms (missed cycles : 7). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.332520 ms (missed cycles : 7).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780495513.63112664 seconds. ×3 + 5.05sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.05sINFOobjective_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 + 5.05sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.05sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780495513.63310981 seconds ×3 + 5.19sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 5.19sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg" + 5.19sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.19sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg"[0m ×2 + 5.54sWARNcontroller_managerOverrun might occur, Total time : 8276.192 us (Expected < 1666.667 us) --> Read time : 224.051 us, Update time : 7299.865 us, Write time : 752.276 us + 5.54sWARNros2_control_nodeOverrun might occur, Total time : 8276.192 us (Expected < 1666.667 us) --> Read time : 224.051 us, Update time : 7299.865 us, Write time : 752.276 us[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780495514.19157910 seconds. ×3 + 5.61sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780495514.19218850 seconds ×3 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123279 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123279 ms (missed cycles : 2).[0m ×2 + 5.69sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String) + 5.69sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780495514.76237297 seconds. ×3 + 6.55sWARNcontroller_managerOverrun might occur, Total time : 1783.807 us (Expected < 1666.667 us) --> Read time : 220.891 us, Update time : 1131.605 us, Write time : 431.311 us + 6.55sWARNros2_control_nodeOverrun might occur, Total time : 1783.807 us (Expected < 1666.667 us) --> Read time : 220.891 us, Update time : 1131.605 us, Write time : 431.311 us[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143870 ms (missed cycles : 5). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143870 ms (missed cycles : 5).[0m ×2 + 6.70sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures" + 6.70sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures"[0m ×2 + 6.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780495515.49250078 seconds ×3

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives

14 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	39 warnings · 122 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 1.86sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.60sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	39 warnings · 122 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 1.86sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.60sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14
− skipped	—	segment_image_from_point_subtree.xml	0.0s	39 warnings · 122 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 1.86sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.60sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	39 warnings · 122 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 1.86sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.60sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	39 warnings · 122 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 1.86sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.60sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	39 warnings · 122 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 1.86sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.60sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings
+ 0.00sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.00sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	39 warnings · 122 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 1.86sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.60sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion

20 skip

− skipped	—	move_to_pose.xml	0.0s	42 warnings · 122 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 1.86sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.60sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.195819 ms (missed cycles : 7). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.195819 ms (missed cycles : 7).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	37 warnings
+ 0.00sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.02sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.02sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.08sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.10sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.18sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.21sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.33sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.37sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.49sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2
− skipped	—	execute_mtc_solution.xml	0.0s	37 warnings
+ 0.00sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.02sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.02sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.08sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.10sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.18sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.21sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.33sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.37sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.49sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2
− skipped	—	execute_mtc_solution.xml	0.0s	39 warnings · 122 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 1.86sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.60sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	37 warnings
+ 0.00sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.02sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.02sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.08sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.10sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.18sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.21sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.33sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.37sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.49sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	39 warnings · 122 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 1.86sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.60sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	37 warnings
+ 0.00sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.02sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.02sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.08sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.10sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.18sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.21sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.33sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.37sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.49sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	39 warnings · 122 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 1.86sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.60sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2
− skipped	—	move_to_joint_state.xml	0.0s	39 warnings · 122 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 1.86sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.60sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2
− skipped	—	move_to_pose.xml	0.0s	37 warnings
+ 0.00sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.02sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.02sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.08sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.10sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.18sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.21sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.33sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.37sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.49sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	37 warnings
+ 0.00sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.02sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.02sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.08sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.10sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.18sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.21sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.33sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.37sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.49sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	39 warnings · 122 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 1.86sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.60sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2
− skipped	—	move_to_waypoint.xml	0.0s	37 warnings
+ 0.00sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.02sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.02sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.08sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.10sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.18sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.21sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.33sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.37sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.49sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2
− skipped	—	move_to_waypoint.xml	0.0s	39 warnings · 122 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 1.86sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.60sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	37 warnings
+ 0.00sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.02sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.02sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.08sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.10sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.18sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.21sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.33sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.37sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.49sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	39 warnings · 122 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 1.86sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.60sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	37 warnings
+ 0.00sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.02sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.02sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.08sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.10sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.18sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.21sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.33sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.37sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.49sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	39 warnings · 122 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 1.86sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.60sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2
− skipped	—	track_moving_frame.xml	0.0s	37 warnings
+ 0.00sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.02sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.02sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.08sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.10sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.18sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.21sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.33sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.37sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.49sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2
− skipped	—	track_moving_frame.xml	0.0s	39 warnings · 122 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 1.86sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.60sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception

2 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	37 warnings
+ 0.00sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.02sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.02sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.08sWARNros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.10sWARNros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.18sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.21sWARNros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.33sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.37sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2 + 0.49sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock in 20 seconds. Attempt 1 of 5 failed. Retrying in 3 seconds... ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	39 warnings · 122 info
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495202.12175274 seconds. ×3 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 4768.721 us (Expected < 1666.667 us) --> Read time : 161.468 us, Update time : 4122.730 us, Write time : 484.523 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462790 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495203.14193773 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212463 ms (missed cycles : 7).[0m ×2 + 1.86sWARNcontroller_managerOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 4812.064 us (Expected < 1666.667 us) --> Read time : 169.738 us, Update time : 4178.393 us, Write time : 463.933 us[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495203.75608039 seconds. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495203.77621722 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495204.34748149 seconds. ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879014 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495204.49811363 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 1685.552 us (Expected < 1666.667 us) --> Read time : 273.093 us, Update time : 63.383 us, Write time : 1349.076 us[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495205.10551310 seconds. ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.60sWARNcontroller_managerOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 4834.244 us (Expected < 1666.667 us) --> Read time : 285.924 us, Update time : 3927.130 us (Switch time : 3877.897 us (Switch chained mode time : 0.440 us, perform mode change time : 3.210 us, Activation time : 3862.697 us, Deactivation time : 0.380 us)), Write time : 621.190 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495205.17564416 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986263 ms (missed cycles : 2).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 6320.656 us (Expected < 1666.667 us) --> Read time : 269.393 us, Update time : 88.434 us, Write time : 5962.829 us[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495205.77171230 seconds. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.7222e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.908] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-06-03 14:00:05.909] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825894 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 7929.195 us (Expected < 1666.667 us) --> Read time : 206.610 us, Update time : 7133.447 us, Write time : 589.138 us[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.79% of iterations over budget over 0:10.000 of wall time (25/3184). Below 1% is expected on a non-realtime system.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719099 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6542.977 us (Expected < 1666.667 us) --> Read time : 252.332 us, Update time : 98.905 us, Write time : 6191.740 us[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-03 14:00:08.437] [info] Accepted new action goal ×2