MoveIt Pro Objective Integration Tests

185

Total objective tests

Objectives passed

Objectives failed

121

Objectives skipped

7.8s

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	60 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 + 8.35sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 14.25sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.25sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.25sERRORfoxglove_bridge-29process[foxglove_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.26sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.26sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.26sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.26sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.26sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 14.28sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.28sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.28sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.28sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.29sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.29sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 14.30sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.30sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.30sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.31sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.31sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.31sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.32sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.32sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.32sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.32sINFOfoxglove_bridge-29sending signal 'SIGTERM' to process[foxglove_bridge-29] ×2 + 14.33sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 14.34sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 14.36sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 14.37sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 14.38sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 14.38sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 14.40sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 14.41sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 14.43sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 14.44sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 14.45sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 14.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16] ×2 + 14.48sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 14.48sINFOcontroller_managerShutdown request received.... + 14.48sINFOcontroller_managerShutting down all controllers in the controller manager. + 14.48sINFOcontroller_managerShutting down the controller manager. + 14.48sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has died [pid 24372, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller']. ×2 + 14.49sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 14.50sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 14.52sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 14.52sINFOweb_video_server-31process has finished cleanly [pid 24452] ×2 + 14.52sINFOtf2_web_republisher_node-30process has finished cleanly [pid 24451] ×2 + 14.53sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 14.55sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 14.56sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 14.58sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 14.58sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 14.58sINFOcontroller_serverCleaning up + 14.58sINFOlocal_costmap.local_costmapCleaning up + 14.58sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 14.58sINFOfoxglove_bridgeShutting down foxglove_bridge[0m ×2 + 14.58sERRORui_teleop_bridge-28process has died [pid 24449, 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_urthi4xs']. ×2 + 14.58sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 14.58sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 14.58sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 14.58sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 14.58sINFOui_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 ×2 + 14.58sINFOui_teleop_bridgerclpy.shutdown() ×2 + 14.58sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 14.58sINFOui_teleop_bridge_shutdown(context=context) ×2 + 14.58sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 14.58sINFOui_teleop_bridgecontext.shutdown() ×2 + 14.58sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 14.58sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 14.58sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 14.58sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 14.58sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 14.58sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 14.58sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 14.58sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 14.59sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 14.59sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 14.59sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 14.59sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 14.59sINFOros2_control_nodeShutdown request received....[0m ×2 + 14.59sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 14.59sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 14.59sINFOobjective_server_node[2026-06-03 15:02:27.834] [moveit_pro_license] [info] ×2 + 14.59sINFOobjective_server_node************************************************* ×4 + 14.59sINFOobjective_server_node* MoveIt Pro License ×2 + 14.59sINFOobjective_server_node* Application has successfully terminated ×2 + 14.59sINFOmove_groupDeleting MoveItCpp[0m ×2 + 14.59sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×4 + 14.59sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 14.59sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 14.59sINFOmove_groupStopping world geometry monitor[0m ×2 + 14.59sINFOmove_groupStopping planning scene monitor[0m ×2 + 14.60sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 14.60sINFOodom_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> ×2 + 14.60sINFOodom_qos_relay.pymain() ×2 + 14.60sINFOodom_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 ×2 + 14.60sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 14.60sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 14.60sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 14.60sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 14.60sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 14.60sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 14.60sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 14.60sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 14.60sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 14.60sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 14.60sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 14.60sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 14.60sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 14.60sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 14.60sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×6 + 14.60sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 24429] ×2 + 14.60sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 14.62sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 14.62sINFOmove_joint_resampler_node-23process has finished cleanly [pid 24385] ×2 + 14.62sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 14.62sINFOmap_serverDeactivating + 14.62sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 14.62sINFOexecute_objective_bridge-27process has finished cleanly [pid 24448] ×2 + 14.63sINFOmap_serverCleaning up + 14.63sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 14.63sINFOsmoother_serverCleaning up + 14.64sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 14.64sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 14.64sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 14.64sINFOwaypoint_manager_node-22process has finished cleanly [pid 24384] ×2 + 14.64sINFOparameter_manager_node-21process has finished cleanly [pid 24381] ×2 + 14.65sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 14.65sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 14.65sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 14.65sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 14.65sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 14.65sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 14.65sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 14.65sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 14.65sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 14.65sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 14.65sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 14.68sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 14.68sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 14.69sINFOcomponent_container_mt-26process has finished cleanly [pid 24431] ×2 + 14.71sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 24281] ×2 + 14.71sINFOobjective_server_node_main-25process has finished cleanly [pid 24430] ×2 + 14.71sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 14.72sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 24280] ×2 + 14.75sINFOstatic_transform_publisher-4process has finished cleanly [pid 24278] ×2 + 14.76sINFOstatic_transform_publisher-3process has finished cleanly [pid 24277] ×2 + 14.77sINFOmove_group-20process has finished cleanly [pid 24379] ×2 + 14.77sINFOfoxglove_bridgeShutdown complete[0m ×2 + 14.78sINFOstatic_transform_publisher-2process has finished cleanly [pid 24276] ×2 + 14.78sERRORodom_qos_relay.py-5process has died [pid 24279, 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 + 14.90sINFOros2_control_node-8process has finished cleanly [pid 24282] ×2 + 15.12sERRORcomponent_container_isolated-1process has died [pid 24275, 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_pmxua36p --params-file /tmp/launch_params_rjz_adfz -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 16.51sINFOfoxglove_bridge-29process has finished cleanly [pid 24450] ×2 + 16.51sINFOlaunchprocess[foxglove_bridge-29] was required: shutting down launched system ×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 + 2.62sWARNros2 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 + 2.83sWARNros2 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 + 2.92sWARNros2 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 + 3.01sWARNros2 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 + 3.02sWARNros2 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 + 3.02sWARNros2 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 + 3.10sWARNros2 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... ×2 + 3.21sWARNros2 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 + 3.24sWARNros2 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 + 3.25sWARNros2 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	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 + 0.66sWARNros2 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 + 0.88sWARNros2 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 + 0.96sWARNros2 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 + 1.05sWARNros2 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 + 1.06sWARNros2 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 + 1.06sWARNros2 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 + 1.15sWARNros2 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... ×2 + 1.26sWARNros2 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 + 1.28sWARNros2 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 + 1.30sWARNros2 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	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 + 1.76sWARNros2 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 + 1.98sWARNros2 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 + 2.06sWARNros2 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 + 2.15sWARNros2 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 + 2.16sWARNros2 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 + 2.16sWARNros2 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 + 2.24sWARNros2 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... ×2 + 2.35sWARNros2 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 + 2.38sWARNros2 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 + 2.39sWARNros2 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 + 4.76sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock after multiple attempts. ×2 + 4.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller[ros2run]: Process exited with failure 1 ×2 + 4.81sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has died [pid 24364, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller']. ×2 + 4.98sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock after multiple attempts. ×2 + 5.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller[ros2run]: Process exited with failure 1 ×2 + 5.03sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has died [pid 24370, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller']. ×2 + 5.06sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock after multiple attempts. ×2 + 5.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller[ros2run]: Process exited with failure 1 ×2 + 5.11sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has died [pid 24374, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller']. ×2 + 5.15sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock after multiple attempts. ×2 + 5.16sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock after multiple attempts. ×2 + 5.16sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock after multiple attempts. ×2 + 5.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[ros2run]: Process exited with failure 1 ×2 + 5.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2[ros2run]: Process exited with failure 1 ×2 + 5.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster[ros2run]: Process exited with failure 1 ×2 + 5.21sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has died [pid 24362, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster']. ×2 + 5.22sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has died [pid 24361, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster']. ×2 + 5.22sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has died [pid 24368, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2']. ×2 + 5.24sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterFailed to acquire lock after multiple attempts. ×2 + 5.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[ros2run]: Process exited with failure 1 ×2 + 5.29sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has died [pid 24360, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. ×2 + 5.35sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock after multiple attempts. ×2 + 5.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper[ros2run]: Process exited with failure 1 ×2 + 5.38sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock after multiple attempts. ×2 + 5.39sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock after multiple attempts. ×2 + 5.41sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has died [pid 24366, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper']. ×2 + 5.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[ros2run]: Process exited with failure 1 ×2 + 5.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller[ros2run]: Process exited with failure 1 ×2 + 5.44sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has died [pid 24376, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller']. ×2 + 5.45sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has died [pid 24378, 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	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 - 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	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 + 7.62sWARNros2 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 + 7.83sWARNros2 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 + 7.92sWARNros2 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 + 8.01sWARNros2 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 + 8.02sWARNros2 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 + 8.02sWARNros2 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 + 8.10sWARNros2 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... ×2 + 8.21sWARNros2 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 + 8.24sWARNros2 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 + 8.25sWARNros2 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	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 + 10.66sWARNros2 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 + 10.88sWARNros2 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 + 10.96sWARNros2 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 + 11.05sWARNros2 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 + 11.06sWARNros2 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 + 11.07sWARNros2 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 + 11.15sWARNros2 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... ×2 + 11.26sWARNros2 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 + 11.28sWARNros2 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 + 11.30sWARNros2 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	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 + 5.66sWARNros2 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 + 5.88sWARNros2 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 + 5.96sWARNros2 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 + 6.05sWARNros2 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 + 6.06sWARNros2 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 + 6.07sWARNros2 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 + 6.15sWARNros2 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... ×2 + 6.26sWARNros2 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 + 6.28sWARNros2 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 + 6.30sWARNros2 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 + 8.71sWARNros2 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 + 8.93sWARNros2 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 + 9.01sWARNros2 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 + 9.10sWARNros2 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 + 9.11sWARNros2 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 + 9.11sWARNros2 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... ×2 + 9.19sWARNros2 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... ×2 + 9.30sWARNros2 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 + 9.33sWARNros2 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 + 9.34sWARNros2 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 - 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 + 3.71sWARNros2 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 + 3.93sWARNros2 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 + 4.01sWARNros2 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 + 4.10sWARNros2 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 + 4.11sWARNros2 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 + 4.11sWARNros2 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... ×2 + 4.19sWARNros2 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... ×2 + 4.30sWARNros2 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 + 4.33sWARNros2 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 + 4.34sWARNros2 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	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 - 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 + 6.76sWARNros2 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 + 6.98sWARNros2 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 + 7.06sWARNros2 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 + 7.15sWARNros2 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 + 7.16sWARNros2 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 + 7.16sWARNros2 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 + 7.24sWARNros2 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... ×2 + 7.35sWARNros2 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 + 7.38sWARNros2 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 + 7.39sWARNros2 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 + 9.76sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock after multiple attempts. ×2 + 9.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller[ros2run]: Process exited with failure 1 ×2 + 9.81sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has died [pid 24364, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller']. ×2 + 9.98sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock after multiple attempts. ×2 + 10.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller[ros2run]: Process exited with failure 1 ×2 + 10.03sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has died [pid 24370, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller']. ×2 + 10.06sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock after multiple attempts. ×2 + 10.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller[ros2run]: Process exited with failure 1 ×2 + 10.11sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has died [pid 24374, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller']. ×2 + 10.15sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock after multiple attempts. ×2 + 10.16sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock after multiple attempts. ×2 + 10.16sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock after multiple attempts. ×2 + 10.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[ros2run]: Process exited with failure 1 ×2 + 10.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2[ros2run]: Process exited with failure 1 ×2 + 10.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster[ros2run]: Process exited with failure 1 ×2 + 10.21sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has died [pid 24362, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster']. ×2 + 10.22sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has died [pid 24361, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster']. ×2 + 10.22sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has died [pid 24368, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2']. ×2 + 10.24sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterFailed to acquire lock after multiple attempts. ×2 + 10.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[ros2run]: Process exited with failure 1 ×2 + 10.29sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has died [pid 24360, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. ×2 + 10.35sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock after multiple attempts. ×2 + 10.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper[ros2run]: Process exited with failure 1 ×2 + 10.38sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock after multiple attempts. ×2 + 10.39sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock after multiple attempts. ×2 + 10.41sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has died [pid 24366, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper']. ×2 + 10.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[ros2run]: Process exited with failure 1 ×2 + 10.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller[ros2run]: Process exited with failure 1 ×2 + 10.44sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has died [pid 24376, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller']. ×2 + 10.45sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has died [pid 24378, 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	40 errors · 36 warnings · 20 info
+ 0.00sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerFailed to acquire lock after multiple attempts. ×2 + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller[ros2run]: Process exited with failure 1 ×2 + 0.05sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has died [pid 24364, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller']. ×2 + 0.22sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock after multiple attempts. ×2 + 0.24sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.24sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24 + 0.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller[ros2run]: Process exited with failure 1 ×2 + 0.28sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has died [pid 24370, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller']. ×2 + 0.30sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock after multiple attempts. ×2 + 0.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller[ros2run]: Process exited with failure 1 ×2 + 0.35sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has died [pid 24374, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller']. ×2 + 0.39sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock after multiple attempts. ×2 + 0.40sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock after multiple attempts. ×2 + 0.40sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock after multiple attempts. ×2 + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[ros2run]: Process exited with failure 1 ×2 + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2[ros2run]: Process exited with failure 1 ×2 + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster[ros2run]: Process exited with failure 1 ×2 + 0.45sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has died [pid 24362, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster']. ×2 + 0.46sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has died [pid 24361, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster']. ×2 + 0.47sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has died [pid 24368, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2']. ×2 + 0.48sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterFailed to acquire lock after multiple attempts. ×2 + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[ros2run]: Process exited with failure 1 ×2 + 0.53sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has died [pid 24360, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. ×2 + 0.59sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock after multiple attempts. ×2 + 0.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper[ros2run]: Process exited with failure 1 ×2 + 0.62sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock after multiple attempts. ×2 + 0.63sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock after multiple attempts. ×2 + 0.65sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has died [pid 24366, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper']. ×2 + 0.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[ros2run]: Process exited with failure 1 ×2 + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller[ros2run]: Process exited with failure 1 ×2 + 0.68sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has died [pid 24376, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller']. ×2 + 0.69sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has died [pid 24378, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller']. ×2
! 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
− skipped	Close Gripper	close_gripper.xml	0.0s	1 error · 21 warnings · 60 info
+ 0.00sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.11sINFOmove_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 ****************************************************** + 0.11sINFOmove_group ×8 + 0.11sINFOmove_group****************************************************** ×4 + 0.11sINFOmove_group* MoveGroup using: ×2 + 0.11sINFOmove_group* - apply_planning_scene_service ×2 + 0.11sINFOmove_group* - clear_octomap_service ×2 + 0.11sINFOmove_group* - ExecuteTaskSolution ×2 + 0.11sINFOmove_group* - get_group_urdf ×2 + 0.11sINFOmove_group* - load_geometry_from_file ×2 + 0.11sINFOmove_group* - get_planning_scene_service ×2 + 0.11sINFOmove_group* - kinematics_service ×2 + 0.11sINFOmove_group* - save_geometry_to_file ×2 + 0.11sINFOmove_group* - GetPlanningGroups ×2 + 0.11sINFOmove_group* - SetActiveControllerService ×2 + 0.11sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.11sINFOmove_group[0m ×2 + 0.11sINFOmove_group[92mYou can start planning now![0m ×2 + 0.45sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.45sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 3.72sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 4.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 4.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2
− 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 + 5.66sWARNros2 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 + 5.88sWARNros2 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 + 5.96sWARNros2 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 + 6.05sWARNros2 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 + 6.06sWARNros2 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 + 6.07sWARNros2 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 + 6.15sWARNros2 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... ×2 + 6.26sWARNros2 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 + 6.28sWARNros2 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 + 6.30sWARNros2 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	1 error · 21 warnings · 60 info
+ 0.00sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.11sINFOmove_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 ****************************************************** + 0.11sINFOmove_group ×8 + 0.11sINFOmove_group****************************************************** ×4 + 0.11sINFOmove_group* MoveGroup using: ×2 + 0.11sINFOmove_group* - apply_planning_scene_service ×2 + 0.11sINFOmove_group* - clear_octomap_service ×2 + 0.11sINFOmove_group* - ExecuteTaskSolution ×2 + 0.11sINFOmove_group* - get_group_urdf ×2 + 0.11sINFOmove_group* - load_geometry_from_file ×2 + 0.11sINFOmove_group* - get_planning_scene_service ×2 + 0.11sINFOmove_group* - kinematics_service ×2 + 0.11sINFOmove_group* - save_geometry_to_file ×2 + 0.11sINFOmove_group* - GetPlanningGroups ×2 + 0.11sINFOmove_group* - SetActiveControllerService ×2 + 0.11sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.11sINFOmove_group[0m ×2 + 0.11sINFOmove_group[92mYou can start planning now![0m ×2 + 0.45sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.45sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 3.72sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 4.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 4.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2
− 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	1 error · 21 warnings · 60 info
+ 0.00sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.11sINFOmove_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 ****************************************************** + 0.11sINFOmove_group ×8 + 0.11sINFOmove_group****************************************************** ×4 + 0.11sINFOmove_group* MoveGroup using: ×2 + 0.11sINFOmove_group* - apply_planning_scene_service ×2 + 0.11sINFOmove_group* - clear_octomap_service ×2 + 0.11sINFOmove_group* - ExecuteTaskSolution ×2 + 0.11sINFOmove_group* - get_group_urdf ×2 + 0.11sINFOmove_group* - load_geometry_from_file ×2 + 0.11sINFOmove_group* - get_planning_scene_service ×2 + 0.11sINFOmove_group* - kinematics_service ×2 + 0.11sINFOmove_group* - save_geometry_to_file ×2 + 0.11sINFOmove_group* - GetPlanningGroups ×2 + 0.11sINFOmove_group* - SetActiveControllerService ×2 + 0.11sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.11sINFOmove_group[0m ×2 + 0.11sINFOmove_group[92mYou can start planning now![0m ×2 + 0.45sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.45sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 3.72sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 4.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 4.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2
− 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	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	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	41 warnings
+ 0.00sWARNros2 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 + 0.21sWARNros2 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 + 0.30sWARNros2 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 + 0.39sWARNros2 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 + 0.40sWARNros2 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 + 0.40sWARNros2 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 + 0.43sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.43sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.48sWARNros2 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... ×2 + 0.59sWARNros2 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 + 0.62sWARNros2 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 + 0.63sWARNros2 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	19.2s	77 errors · 296 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/2026-06-03-14-56-50-188153-0384205dd4a2-23408 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 6.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 6.95sINFOros2_control_node-8process started with pid [23464] + 6.95sINFOmove_group-20process started with pid [23562] + 6.95sINFOparameter_manager_node-21process started with pid [23564] + 6.95sINFOwaypoint_manager_node-22process started with pid [23566] + 6.95sINFOmove_joint_resampler_node-23process started with pid [23567] + 6.95sINFOmove_end_effector_resampler_node-24process started with pid [23612] + 6.95sINFOobjective_server_node_main-25process started with pid [23629] + 6.95sINFOcomponent_container_mt-26process started with pid [23630] + 6.95sINFOexecute_objective_bridge-27process started with pid [23631] + 6.95sINFOui_teleop_bridge-28process started with pid [23633] + 6.95sINFOfoxglove_bridge-29process started with pid [23634] + 6.95sINFOtf2_web_republisher_node-30process started with pid [23637] + 6.95sINFOweb_video_server-31process started with pid [23638] + 6.97sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 6.97sINFOcomponent_container_isolated-1process started with pid [23457] + 6.97sINFOstatic_transform_publisher-2process started with pid [23458] + 6.97sINFOstatic_transform_publisher-3process started with pid [23459] + 6.97sINFOstatic_transform_publisher-4process started with pid [23460] + 6.97sINFOodom_qos_relay.py-5process started with pid [23461] + 6.97sINFOscan_to_scan_filter_chain-6process started with pid [23462] + 6.97sINFOscan_to_scan_filter_chain-7process started with pid [23463] + 6.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process started with pid [23542] + 6.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process started with pid [23543] + 6.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process started with pid [23544] + 6.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process started with pid [23546] + 6.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process started with pid [23548] + 6.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process started with pid [23549] + 6.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process started with pid [23552] + 6.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process started with pid [23554] + 6.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process started with pid [23556] + 6.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process started with pid [23558] + 6.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process started with pid [23560] + 7.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 7.07sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×9 + 7.07sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×9 + 7.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 7.08sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×9 + 7.08sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×9 + 7.08sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×3 + 7.08sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×3 + 7.08sINFOstatic_transform_publisherfrom 'map' to 'odom' ×3 + 7.08sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 7.08sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 7.08sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 7.09sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 7.09sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 7.09sWARNros2_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 + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885616 ms (missed cycles : 2).[0m + 7.13sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 7.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 7.16sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 7.18sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 7.19sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 7.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 7.28sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@)[0m ×3 + 7.28sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 7.28sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 7.30sINFOcomponent_container_mtRobot initialized[0m ×3 + 7.31sINFOfoxglove_bridgeServer listening on port 3201[0m ×3 + 7.32sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 7.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 7.33sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/smoother_server/transition_event"[0m + 7.35sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 7.35sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 7.35sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 7.35sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 7.35sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 7.35sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 7.35sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 7.35sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 7.35sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×3 + 7.35sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/scan_front_filtered"[0m + 7.36sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 7.36sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat"[0m + 7.36sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/scan_rear"[0m + 7.36sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/rosout"[0m + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 7.38sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 7.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 7.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 7.42sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 7.44sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/store_joint_state"[0m + 7.44sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/scan_front"[0m + 7.44sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_joint"[0m + 7.44sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/map_server/transition_event"[0m + 7.44sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/local_costmap/local_costmap/transition_event"[0m + 7.46sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/diagnostics"[0m + 7.46sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/controller_server/transition_event"[0m + 7.47sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/tf_static"[0m + 7.48sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/values"[0m + 7.48sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/controller_manager/statistics/names"[0m + 7.48sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/move_end_effector"[0m + 7.49sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/controller_manager/statistics/full"[0m + 7.49sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/controller_manager/introspection_data/values"[0m + 7.49sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/robot_description"[0m + 7.51sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/parameter_events"[0m + 7.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 7.52sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/controller_manager/introspection_data/full"[0m + 7.53sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/controller_manager/activity"[0m + 7.54sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/agent_interface/move_joint"[0m + 7.54sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/scan_rear_filtered"[0m + 7.54sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/controller_manager/introspection_data/names"[0m + 7.54sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/agent_interface/move_end_effector"[0m + 7.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 7.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 7.68sWARNscan_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 + 7.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 7.80sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 7.81sINFOmove_groupat line 594 in ./src/model.cpp ×318 + 7.81sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 7.88sINFOmove_groupat line 589 in ./src/model.cpp ×27 + 7.89sINFOmove_groupLoaded robot model in 0.521117 seconds[0m + 7.89sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 7.89sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065450 ms (missed cycles : 4).[0m + 8.34sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 8.34sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×318 + 8.34sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 8.38sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×27 + 8.38sINFOwaypoint_manager_nodeLoaded robot model in 0.399213 seconds[0m + 8.38sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 8.38sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.41sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 8.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 8.93sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 8.93sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 8.97sERRORros2_control_nodeXML Error: Schema violation: unrecognized element ×3 + 8.97sINFOros2_control_nodeElement 'option', line 0 ×3 + 8.97sINFOros2_control_node[0m ×3 + 8.97sERRORros2_control_nodeFailed to initialize hardware 'ur_mujoco_control'[0m ×3 + 8.97sWARNros2_control_nodeSystem hardware component 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' failed to initialize.[0m ×3 + 8.97sWARNros2_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 + 9.03sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 9.03sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 9.03sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 9.03sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 9.03sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 9.03sINFOmove_groupStopped publishing maintained planning scene.[0m ×4 + 9.03sINFOmove_groupStarting planning scene monitor[0m ×3 + 9.03sINFOmove_groupListening to '/planning_scene'[0m ×3 + 9.04sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 9.04sINFOmove_groupListening to 'collision_object'[0m ×3 + 9.04sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 9.06sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×179 + 9.19sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/velocity_smoother/transition_event"[0m + 9.20sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/speed_limit"[0m + 9.20sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/platform_velocity_controller_nav2/cmd_vel_unstamped"[0m + 9.20sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/planner_server/transition_event"[0m + 9.20sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/plan_smoothed"[0m + 9.20sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/optimal_trajectory"[0m + 9.21sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/odom_reliable"[0m + 9.21sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/robot_description_semantic"[0m + 9.21sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/odom"[0m + 9.21sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 9.21sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 9.21sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 9.21sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 9.21sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 9.21sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 9.22sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 9.22sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/trajectories"[0m + 9.26sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/monitored_planning_scene"[0m + 9.26sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/local_costmap/published_footprint"[0m + 9.26sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/local_costmap/obstacle_layer_updates"[0m + 9.26sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/map"[0m + 9.26sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/local_costmap/obstacle_layer_raw_updates"[0m + 9.27sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/local_costmap/obstacle_layer_raw"[0m + 9.27sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/local_costmap/obstacle_layer"[0m + 9.27sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/local_costmap/footprint"[0m + 9.27sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/local_costmap/costmap_updates"[0m + 9.27sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/local_costmap/costmap_raw"[0m + 9.27sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/local_costmap/costmap"[0m + 9.27sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_states"[0m + 9.27sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/imu_sensor_broadcaster/imu_reliable"[0m + 9.27sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/global_costmap/global_costmap/transition_event"[0m + 9.27sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/global_costmap/costmap_raw_updates"[0m + 9.27sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/planning_scene"[0m + 9.27sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/global_costmap/published_footprint"[0m + 9.27sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/global_costmap/costmap_raw"[0m + 9.27sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/tf"[0m + 9.27sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/planning_scene_world"[0m + 9.28sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/imu_sensor_broadcaster/imu"[0m + 9.28sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/collision_object"[0m + 9.28sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/transformed_global_plan"[0m + 9.28sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/cmd_vel_nav"[0m + 9.28sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/cmd_vel"[0m + 9.28sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/local_costmap/costmap_raw_updates"[0m + 9.28sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/bt_navigator/transition_event"[0m + 9.28sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/bond"[0m + 9.28sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/waypoint_follower/transition_event"[0m + 9.28sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/behavior_server/transition_event"[0m + 9.28sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/attached_collision_object"[0m + 9.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×3 + 9.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×3 + 9.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×3 + 9.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×3 + 9.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×3 + 9.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×3 + 9.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×3 + 9.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×3 + 9.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×3 + 9.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×3 + 9.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×3 + 9.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×3 + 9.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×3 + 9.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×3 + 9.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×3 + 9.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×3 + 9.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 9.74sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 9.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 9.75sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 9.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 9.87sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 9.88sINFOobjective_server_node[2026-06-03 14:57:02.639] [moveit_pro_license] [info] + 9.88sINFOobjective_server_node************************************************* ×8 + 9.88sINFOobjective_server_node* MoveIt Pro License ×4 + 9.88sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 9.88sWARNcomponent_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 + 10.04sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/statistics"[0m + 10.04sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/failure_reason_collector"[0m + 10.05sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/description"[0m + 10.19sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 10.19sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×318 + 10.19sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 10.20sINFOobjective_server_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 10.20sINFOobjective_server_nodeat line 594 in ./src/model.cpp ×318 + 10.20sINFOobjective_server_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 10.24sINFOobjective_server_nodeat line 589 in ./src/model.cpp ×27 + 10.24sINFOobjective_server_nodeLoaded robot model in 0.290297 seconds[0m + 10.24sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 10.24sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 10.24sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×27 + 10.24sINFOcomponent_container_mtLoaded robot model in 0.317765 seconds[0m + 10.24sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 10.24sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 10.40sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 10.46sINFOobjective_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 + 10.46sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 10.47sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 10.47sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 10.47sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 10.47sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 10.47sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 10.47sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 10.47sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 10.65sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/visual_markers"[0m ×3 + 10.65sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/blackboard_contents"[0m ×3 + 10.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/behavior_tree_status"[0m ×3 + 10.71sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 10.72sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 10.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 11.09sWARNobjective_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/. ×3 + 11.16sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×9 + 11.21sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/transient_monitored_planning_scene_without_octomap"[0m ×3 + 11.68sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 13.16sINFOmove_groupTrajectory execution is managing controllers[0m ×3 + 13.16sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 13.17sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 13.20sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 13.20sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×3 + 13.22sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/trajectory_execution_event"[0m ×3 + 13.25sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 13.25sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 13.25sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 13.25sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 13.25sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 13.25sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 13.28sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×3 + 13.32sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 13.36sINFOmove_group ×12 + 13.36sINFOmove_group******************************************************** ×6 + 13.36sINFOmove_group* MoveGroup using: ×3 + 13.36sINFOmove_group* - apply_planning_scene_service ×3 + 13.36sINFOmove_group* - clear_octomap_service ×3 + 13.36sINFOmove_group* - ExecuteTaskSolution ×3 + 13.36sINFOmove_group* - get_group_urdf ×3 + 13.36sINFOmove_group* - load_geometry_from_file ×3 + 13.36sINFOmove_group* - get_planning_scene_service ×3 + 13.36sINFOmove_group* - kinematics_service ×3 + 13.36sINFOmove_group* - save_geometry_to_file ×3 + 13.36sINFOmove_group* - GetPlanningGroups ×3 + 13.36sINFOmove_group* - SetActiveControllerService ×3 + 13.36sINFOmove_group* - URDFPlanningSceneCapability ×3 + 13.36sINFOmove_group[0m ×3 + 13.36sINFOmove_group[92mYou can start planning now![0m ×3 + 28.57sWARNros2 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... + 28.75sWARNros2 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... + 28.76sWARNros2 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... + 28.76sWARNros2 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... + 28.77sWARNros2 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... + 28.81sWARNros2 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... + 28.84sWARNros2 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... + 28.98sWARNros2 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... + 29.06sWARNros2 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... + 29.09sWARNros2 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... + 51.62sWARNros2 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... + 51.80sWARNros2 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... + 51.81sWARNros2 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... + 51.81sWARNros2 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... + 51.82sWARNros2 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... + 51.86sWARNros2 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... + 51.89sWARNros2 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... + 51.99sWARNros2 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... + 52.11sWARNros2 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... + 52.14sWARNros2 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... + 74.67sWARNros2 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... + 74.82sWARNros2 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... + 74.85sWARNros2 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... + 74.85sWARNros2 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... + 74.85sWARNros2 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... + 74.89sWARNros2 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... + 74.90sWARNros2 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... + 74.99sWARNros2 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... + 75.14sWARNros2 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... + 75.15sWARNros2 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... + 97.72sWARNros2 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... + 97.87sWARNros2 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... + 97.89sWARNros2 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... + 97.90sWARNros2 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... + 97.90sWARNros2 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... + 97.94sWARNros2 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... + 97.95sWARNros2 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... + 98.04sWARNros2 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... + 98.19sWARNros2 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... + 98.20sWARNros2 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... +120.77sWARNros2 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... +120.92sWARNros2 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... +120.94sWARNros2 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... +120.94sWARNros2 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... +120.94sWARNros2 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... +120.94sWARNros2 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... +120.99sWARNros2 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... +121.04sWARNros2 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... +121.19sWARNros2 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... +121.24sWARNros2 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... +123.77sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterFailed to acquire lock after multiple attempts. +123.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[ros2run]: Process exited with failure 1 +123.82sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has died [pid 23544, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster']. +123.92sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Failed to acquire lock after multiple attempts. +123.94sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerFailed to acquire lock after multiple attempts. +123.94sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperFailed to acquire lock after multiple attempts. +123.94sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterFailed to acquire lock after multiple attempts. +123.94sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerFailed to acquire lock after multiple attempts. +123.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2[ros2run]: Process exited with failure 1 +123.98sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has died [pid 23549, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2']. +123.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[ros2run]: Process exited with failure 1 +123.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[ros2run]: Process exited with failure 1 +123.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper[ros2run]: Process exited with failure 1 +123.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller[ros2run]: Process exited with failure 1 +123.99sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterFailed to acquire lock after multiple attempts. +124.02sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has died [pid 23542, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. +124.02sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has died [pid 23558, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller']. +124.02sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has died [pid 23548, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper']. +124.02sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has died [pid 23556, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller']. +124.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster[ros2run]: Process exited with failure 1 +124.04sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerFailed to acquire lock after multiple attempts. +124.06sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has died [pid 23543, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster']. +124.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller[ros2run]: Process exited with failure 1 +124.10sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has died [pid 23552, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller']. +124.19sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerFailed to acquire lock after multiple attempts. +124.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[ros2run]: Process exited with failure 1 +124.24sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerFailed to acquire lock after multiple attempts. +124.25sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has died [pid 23554, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller']. +124.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller[ros2run]: Process exited with failure 1 +124.30sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has died [pid 23560, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller']. +157.21sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +162.99sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.99sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.99sERRORfoxglove_bridge-29process[foxglove_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.00sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.00sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.00sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.00sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.00sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.01sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] +163.02sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.02sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.02sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.03sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.03sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process[ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.03sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] +163.04sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.05sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.05sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.05sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.05sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.06sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.06sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.06sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.06sINFOfoxglove_bridge-29sending signal 'SIGTERM' to process[foxglove_bridge-29] +163.07sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] +163.09sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] +163.10sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] +163.12sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] +163.13sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] +163.14sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +163.15sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] +163.16sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] +163.17sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] +163.19sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] +163.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12] +163.22sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +163.22sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has died [pid 23546, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller']. +163.23sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] +163.24sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +163.25sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +163.26sINFOweb_video_server-31process has finished cleanly [pid 23638] +163.27sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +163.27sINFOtf2_web_republisher_node-30process has finished cleanly [pid 23637] +163.28sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +163.30sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +163.31sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +163.33sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +163.33sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m +163.33sINFOfoxglove_bridgeShutting down foxglove_bridge[0m +163.33sERRORui_teleop_bridge-28process has died [pid 23633, 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_e8kydv1y']. +163.33sERRORui_teleop_bridgeTraceback (most recent call last): +163.33sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +163.33sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) +163.33sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +163.33sINFOui_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 +163.33sINFOui_teleop_bridgerclpy.shutdown() +163.33sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +163.33sINFOui_teleop_bridge_shutdown(context=context) +163.33sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +163.33sINFOui_teleop_bridgecontext.shutdown() +163.33sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +163.33sINFOui_teleop_bridgeself.__context.shutdown() +163.33sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +163.33sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m +163.33sINFOcomponent_container_mtStopping planning scene monitor[0m +163.33sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +163.33sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +163.33sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +163.33sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +163.33sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +163.34sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +163.34sINFOobjective_server_node[2026-06-03 14:59:35.959] [moveit_pro_license] [info] +163.34sINFOobjective_server_node* Application has successfully terminated +163.34sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +163.34sINFOros2_control_nodeShutdown request received....[0m +163.34sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +163.34sINFOros2_control_nodeShutting down the controller manager.[0m +163.34sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +163.34sINFOmove_groupDeleting MoveItCpp[0m +163.34sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×2 +163.34sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system +163.34sINFOmove_groupStopping world geometry monitor[0m +163.34sINFOmove_groupStopping planning scene monitor[0m +163.34sERRORodom_qos_relay.pyTraceback (most recent call last): +163.34sINFOodom_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> +163.34sINFOodom_qos_relay.pymain() +163.34sINFOodom_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 +163.34sINFOodom_qos_relay.pyrclpy.spin(node) +163.34sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +163.34sINFOodom_qos_relay.pyexecutor.spin_once() +163.34sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +163.34sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +163.34sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +163.34sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +163.34sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +163.34sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +163.34sINFOodom_qos_relay.pyreturn next(self._cb_iter) +163.34sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +163.34sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +163.34sINFOodom_qos_relay.pyraise ExternalShutdownException() +163.34sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +163.34sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×3 +163.35sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +163.35sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 23612] +163.35sINFOexecute_objective_bridge-27process has finished cleanly [pid 23631] +163.36sINFOmove_joint_resampler_node-23process has finished cleanly [pid 23567] +163.39sINFOwaypoint_manager_node-22process has finished cleanly [pid 23566] +163.39sINFOparameter_manager_node-21process has finished cleanly [pid 23564] +163.43sINFOros2_control_nodeAsync messages lost 0[0m ×2 +163.43sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 +163.44sINFOcomponent_container_mt-26process has finished cleanly [pid 23630] +163.46sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 23463] +163.46sINFOobjective_server_node_main-25process has finished cleanly [pid 23629] +163.46sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system +163.47sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 23462] +163.50sINFOstatic_transform_publisher-4process has finished cleanly [pid 23460] +163.51sINFOfoxglove_bridgeShutdown complete[0m +163.51sINFOmove_group-20process has finished cleanly [pid 23562] +163.51sINFOstatic_transform_publisher-3process has finished cleanly [pid 23459] +163.53sINFOstatic_transform_publisher-2process has finished cleanly [pid 23458] +163.53sERRORodom_qos_relay.py-5process has died [pid 23461, 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']. +163.66sINFOros2_control_node-8process has finished cleanly [pid 23464] +163.85sERRORcomponent_container_isolated-1process has died [pid 23457, 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_6zr1yzmz --params-file /tmp/launch_params_5wzs8cn1 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +165.35sINFOfoxglove_bridge-29process has finished cleanly [pid 23634] +165.35sINFOlaunchprocess[foxglove_bridge-29] was required: shutting down launched system +171.81sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-03-14-59-42-006780-0384205dd4a2-24226 ×2 +178.45sINFOstatic_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' +178.45sINFOstatic_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' +178.45sINFOstatic_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' +178.51sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +178.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +178.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +178.55sINFOcontroller_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. +178.56sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +178.60sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +178.61sINFOcontroller_managerupdate rate is 600 Hz +178.61sINFOcontroller_managerOverruns handling is : enabled +178.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +178.61sWARNcontroller_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. +178.63sINFOcontroller_serverCreating controller server +178.67sINFOlocal_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. +178.68sINFOlocal_costmap.local_costmapCreating Costmap +178.70sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +178.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234717 ms (missed cycles : 5). +178.71sINFOros2_control_node-8process started with pid [24282] ×2 +178.72sINFOmove_group-20process started with pid [24379] ×2 +178.72sINFOparameter_manager_node-21process started with pid [24381] ×2 +178.72sINFOwaypoint_manager_node-22process started with pid [24384] ×2 +178.72sINFOmove_joint_resampler_node-23process started with pid [24385] ×2 +178.72sINFOmove_end_effector_resampler_node-24process started with pid [24429] ×2 +178.72sINFOobjective_server_node_main-25process started with pid [24430] ×2 +178.72sINFOcomponent_container_mt-26process started with pid [24431] ×2 +178.72sINFOexecute_objective_bridge-27process started with pid [24448] ×2 +178.72sINFOui_teleop_bridge-28process started with pid [24449] ×2 +178.72sINFOfoxglove_bridge-29process started with pid [24450] ×2 +178.72sINFOtf2_web_republisher_node-30process started with pid [24451] ×2 +178.72sINFOweb_video_server-31process started with pid [24452] ×2 +178.74sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +178.74sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +178.74sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +178.74sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +178.74sINFOcomponent_container_isolated-1process started with pid [24275] ×2 +178.75sINFOstatic_transform_publisher-2process started with pid [24276] ×2 +178.75sINFOstatic_transform_publisher-3process started with pid [24277] ×2 +178.75sINFOstatic_transform_publisher-4process started with pid [24278] ×2 +178.75sINFOodom_qos_relay.py-5process started with pid [24279] ×2 +178.75sINFOscan_to_scan_filter_chain-6process started with pid [24280] ×2 +178.75sINFOscan_to_scan_filter_chain-7process started with pid [24281] ×2 +178.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process started with pid [24360] ×2 +178.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process started with pid [24361] ×2 +178.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process started with pid [24362] ×2 +178.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process started with pid [24364] ×2 +178.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process started with pid [24366] ×2 +178.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process started with pid [24368] ×2 +178.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process started with pid [24370] ×2 +178.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process started with pid [24372] ×2 +178.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process started with pid [24374] ×2 +178.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process started with pid [24376] ×2 +178.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process started with pid [24378] ×2 +178.83sINFOmap_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. +178.83sINFOmap_serverCreating +178.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234717 ms (missed cycles : 5).[0m ×2 +178.83sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +178.83sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +178.83sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +178.86sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +178.86sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@) +178.87sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +178.88sINFOfoxglove_bridgeServer listening on port 3201 +178.89sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout" +178.89sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout"[0m ×2 +178.89sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/robot_description" +178.89sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/robot_description"[0m ×2 +178.90sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/controller_manager/statistics/values" +178.90sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/controller_manager/statistics/values"[0m ×2 +178.91sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/parameter_events" +178.91sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/parameter_events"[0m ×2 +178.91sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +178.91sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/names" +178.91sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/introspection_data/values" +178.91sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/names"[0m ×2 +178.91sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/introspection_data/values"[0m ×2 +178.91sINFOsmoother_serverCreating smoother server +178.92sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/diagnostics" +178.92sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/controller_manager/introspection_data/names" +178.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +178.92sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +178.92sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +178.92sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/diagnostics"[0m ×2 +178.92sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/controller_manager/introspection_data/names"[0m ×2 +178.92sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/statistics/full" +178.92sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/controller_manager/introspection_data/full" +178.93sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/statistics/full"[0m ×2 +178.93sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/controller_manager/introspection_data/full"[0m ×2 +178.93sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/activity" +178.93sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/activity"[0m ×2 +178.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +178.93sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +178.98sINFOlifecycle_manager_localizationCreating +179.00sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +179.00sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +179.00sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +179.00sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +179.01sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +179.01sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +179.01sINFOmap_serverConfiguring +179.04sINFOplanner_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. +179.05sINFOrobot_state_publisherRobot initialized +179.05sINFOcontroller_managerReceived robot description from topic. +179.05sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +179.08sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +179.09sINFOplanner_serverCreating +179.10sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +179.11sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +179.11sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +179.11sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +179.11sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +179.11sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +179.11sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +179.11sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +179.11sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +179.11sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +179.13sINFOglobal_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. +179.14sINFOglobal_costmap.global_costmapCreating Costmap +179.16sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +179.16sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +179.16sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +179.16sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +179.16sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +179.19sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +179.19sINFOmap_serverActivating +179.19sINFOmap_serverCreating bond (map_server) to lifecycle manager. +179.20sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +179.25sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +179.25sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +179.27sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +179.27sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +179.30sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +179.31sINFOlifecycle_manager_localizationServer map_server connected with bond. +179.31sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +179.31sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +179.33sINFObt_navigatorCreating +179.35sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +179.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +179.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +179.39sINFOwaypoint_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. +179.40sINFOwaypoint_followerCreating +179.41sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +179.41sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +179.41sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +179.45sINFOvelocity_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. +179.46sWARNlaser_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. +179.47sWARNlaser_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. +179.48sINFOlifecycle_manager_navigationCreating +179.48sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +179.50sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +179.50sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +179.50sINFOcontroller_serverConfiguring controller interface +179.50sINFOcontroller_servergetting progress checker plugins.. +179.50sINFOcontroller_servergetting goal checker plugins.. +179.50sINFOcontroller_serverController frequency set to 20.0000Hz +179.50sINFOlocal_costmap.local_costmapConfiguring +179.50sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.56309 seconds +179.51sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +179.51sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +179.51sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +179.53sINFOmove_groupLoaded robot model in 0.56309 seconds[0m ×2 +179.53sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +179.57sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +179.57sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +179.57sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +179.59sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +179.59sINFOcontroller_serverController Server has progress_checker progress checkers available. +179.60sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +179.60sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +179.61sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +179.62sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +179.63sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +179.63sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +179.63sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +179.63sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +179.64sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +179.64sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +179.64sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +179.64sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +179.65sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +179.65sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +179.65sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +179.66sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +179.66sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +179.67sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +179.67sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +179.67sINFOcontroller_serverOptimizer reset +179.68sINFOcontroller_serverController Server has FollowPath controllers available. +179.70sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +179.70sINFOsmoother_serverConfiguring smoother server +179.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.038431 ms (missed cycles : 5). +179.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.038431 ms (missed cycles : 5).[0m ×2 +179.72sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +179.74sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +179.76sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +179.76sINFOplanner_serverConfiguring +179.76sINFOglobal_costmap.global_costmapConfiguring +179.78sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +179.78sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +179.79sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +179.79sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +179.80sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +179.85sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +179.85sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +179.85sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +179.89sFATALplanner_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 +179.89sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1008 X 1310 at 0.050000 m/pix +179.89sINFOplanner_serverCleaning up +179.89sINFOglobal_costmap.global_costmapCleaning up +179.96sERRORlifecycle_manager_navigationFailed to change state for node: planner_server +179.96sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. +180.10sERRORmove_group.moveit.ros.robot_model_loaderCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +180.24sINFOwaypoint_manager_nodeLoaded robot model in 0.318297 seconds[0m ×2 +180.54sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +180.55sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +180.60sERRORcontroller_managerFailed to initialize hardware 'ur_mujoco_control' +180.60sWARNcontroller_managerSystem hardware component 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' failed to initialize. +180.60sWARNcontroller_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. +180.65sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 +180.73sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/waypoint_follower/transition_event" +180.73sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/waypoint_follower/transition_event"[0m ×2 +180.74sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +180.74sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +180.75sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +180.75sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +180.75sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +180.75sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/trajectories" +180.75sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/trajectories"[0m ×2 +180.75sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +180.75sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +180.75sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +180.75sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +180.75sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +180.75sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/tf" +180.75sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +180.75sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/tf"[0m ×2 +180.75sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/scan_rear_filtered" +180.75sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/scan_rear" +180.75sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/scan_front" +180.75sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/scan_rear_filtered"[0m ×2 +180.75sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/scan_rear"[0m ×2 +180.76sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/scan_front"[0m ×2 +180.76sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/platform_velocity_controller_nav2/cmd_vel_unstamped" +180.76sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/planner_server/transition_event" +180.76sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/platform_velocity_controller_nav2/cmd_vel_unstamped"[0m ×2 +180.76sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/planner_server/transition_event"[0m ×2 +180.76sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/odom_reliable" +180.76sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/odom_reliable"[0m ×2 +180.77sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/objective_server_heartbeat" +180.77sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/tf_static" +180.77sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/objective_server_heartbeat"[0m ×2 +180.77sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/tf_static"[0m ×2 +180.77sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/store_joint_state" +180.77sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/store_joint_state"[0m ×2 +180.77sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/moveit_pro_ui/do_teleoperate/result" +180.77sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/moveit_pro_ui/do_teleoperate/feedback" +180.77sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/moveit_pro_ui/do_teleoperate/result"[0m ×2 +180.77sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m ×2 +180.77sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/transformed_global_plan" +180.77sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/map_server/transition_event" +180.77sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/plan_smoothed" +180.77sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/transformed_global_plan"[0m ×2 +180.77sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/map_server/transition_event"[0m ×2 +180.77sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/plan_smoothed"[0m ×2 +180.78sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/map" +180.78sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/map"[0m ×2 +180.78sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/local_costmap/published_footprint" +180.79sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/local_costmap/published_footprint"[0m ×2 +180.79sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/local_costmap/obstacle_layer_updates" +180.79sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/local_costmap/obstacle_layer_updates"[0m ×2 +180.79sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/local_costmap/obstacle_layer_raw_updates" +180.79sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/local_costmap/obstacle_layer_raw_updates"[0m ×2 +180.79sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/local_costmap/obstacle_layer_raw" +180.79sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/local_costmap/local_costmap/transition_event" +180.79sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/local_costmap/obstacle_layer_raw"[0m ×2 +180.80sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/local_costmap/local_costmap/transition_event"[0m ×2 +180.80sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/moveit_pro_ui/move_joint" +180.80sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/moveit_pro_ui/move_joint"[0m ×2 +180.80sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/local_costmap/footprint" +180.80sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/robot_description_semantic" +180.80sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/local_costmap/costmap_raw" +180.80sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/local_costmap/footprint"[0m ×2 +180.80sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/robot_description_semantic"[0m ×2 +180.80sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/local_costmap/costmap_raw"[0m ×2 +180.80sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/speed_limit" +180.80sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/speed_limit"[0m ×2 +180.80sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_states" +180.80sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_states"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/moveit_pro_ui/move_end_effector" +180.81sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/moveit_pro_ui/do_teleoperate/cancel" +180.81sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/local_costmap/obstacle_layer" +180.81sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/moveit_pro_ui/move_end_effector"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/local_costmap/obstacle_layer"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/imu_sensor_broadcaster/imu_reliable" +180.81sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/smoother_server/transition_event" +180.81sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/scan_front_filtered" +180.81sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/imu_sensor_broadcaster/imu" +180.81sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/global_costmap/published_footprint" +180.81sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/imu_sensor_broadcaster/imu_reliable"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/global_costmap/global_costmap/transition_event" +180.81sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/global_costmap/costmap_raw_updates" +180.81sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_smoother/transition_event" +180.81sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/global_costmap/costmap_raw" +180.81sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/local_costmap/costmap_raw_updates" +180.81sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/local_costmap/costmap" +180.81sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/controller_server/transition_event" +180.81sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/moveit_pro_ui/do_teleoperate/goal" +180.81sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/odom" +180.81sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/optimal_trajectory" +180.81sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/cmd_vel_nav" +180.81sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/local_costmap/costmap_updates" +180.81sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/cmd_vel" +180.81sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/bt_navigator/transition_event" +180.81sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/smoother_server/transition_event"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/scan_front_filtered"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/imu_sensor_broadcaster/imu"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/global_costmap/published_footprint"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/global_costmap/global_costmap/transition_event"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/global_costmap/costmap_raw_updates"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_smoother/transition_event"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/global_costmap/costmap_raw"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/local_costmap/costmap_raw_updates"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/local_costmap/costmap"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/controller_server/transition_event"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/odom"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/optimal_trajectory"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/cmd_vel_nav"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/local_costmap/costmap_updates"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/cmd_vel"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/bt_navigator/transition_event"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/bond" +180.81sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/behavior_server/transition_event" +180.81sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_interface/move_joint" +180.81sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_interface/move_end_effector" +180.81sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/bond"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/behavior_server/transition_event"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_interface/move_joint"[0m ×2 +180.81sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_interface/move_end_effector"[0m ×2 +181.57sINFOobjective_server_node[2026-06-03 14:59:54.328] [moveit_pro_license] [info] ×2 +181.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +181.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +181.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +181.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +181.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +181.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +181.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +181.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +181.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +181.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +181.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +181.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +181.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +181.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +181.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +181.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +181.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +181.66sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +181.67sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +181.76sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/planning_scene" +181.76sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/monitored_planning_scene" +181.76sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/planning_scene"[0m ×2 +181.76sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/monitored_planning_scene"[0m ×2 +181.77sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/statistics" +181.77sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/statistics"[0m ×2 +181.77sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/failure_reason_collector" +181.77sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/failure_reason_collector"[0m ×2 +181.77sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/description" +181.77sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/description"[0m ×2 +181.77sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/collision_object" +181.77sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/collision_object"[0m ×2 +181.78sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/planning_scene_world" +181.78sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/planning_scene_world"[0m ×2 +181.78sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/attached_collision_object" +181.78sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/attached_collision_object"[0m ×2 +181.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +181.80sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +181.98sINFOobjective_server_nodeLoaded robot model in 0.360634 seconds[0m ×2 +182.12sINFOcomponent_container_mtLoaded robot model in 0.29857 seconds[0m ×2 +182.36sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/visual_markers" +182.36sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/blackboard_contents" +182.36sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/behavior_tree_status" +182.95sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/transient_monitored_planning_scene_without_octomap" +183.06sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds ×3 +185.06sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers +185.06sINFOmove_groupMoveGroup debug mode is ON +185.06sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/trajectory_execution_event" +185.26sINFOmove_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 ******************************************************** +188.87sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers +189.17sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +189.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2
! error	—	reset_planning_scene.xml	5.0s	1 error · 36 warnings · 60 info
+ 0.00sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.11sINFOmove_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 ****************************************************** + 0.11sINFOmove_group ×8 + 0.11sINFOmove_group****************************************************** ×4 + 0.11sINFOmove_group* MoveGroup using: ×2 + 0.11sINFOmove_group* - apply_planning_scene_service ×2 + 0.11sINFOmove_group* - clear_octomap_service ×2 + 0.11sINFOmove_group* - ExecuteTaskSolution ×2 + 0.11sINFOmove_group* - get_group_urdf ×2 + 0.11sINFOmove_group* - load_geometry_from_file ×2 + 0.11sINFOmove_group* - get_planning_scene_service ×2 + 0.11sINFOmove_group* - kinematics_service ×2 + 0.11sINFOmove_group* - save_geometry_to_file ×2 + 0.11sINFOmove_group* - GetPlanningGroups ×2 + 0.11sINFOmove_group* - SetActiveControllerService ×2 + 0.11sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.11sINFOmove_group[0m ×2 + 0.11sINFOmove_group[92mYou can start planning now![0m ×2 + 0.45sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.45sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24 + 3.72sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 4.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 4.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2
! 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 + 9.57sWARNros2 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 + 9.79sWARNros2 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 + 9.87sWARNros2 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 + 9.96sWARNros2 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 + 9.97sWARNros2 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 + 9.97sWARNros2 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 + 10.05sWARNros2 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... ×2 + 10.16sWARNros2 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 + 10.19sWARNros2 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 + 10.21sWARNros2 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 + 4.57sWARNros2 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 + 4.79sWARNros2 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 + 4.87sWARNros2 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 + 4.96sWARNros2 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 + 4.97sWARNros2 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 + 4.97sWARNros2 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 + 5.05sWARNros2 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... ×2 + 5.16sWARNros2 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 + 5.19sWARNros2 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 + 5.21sWARNros2 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	6.9s	58 warnings · 663 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/2026-06-03-15-02-32-984421-0384205dd4a2-25088 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.08sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.11sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.12sINFOcontroller_managerupdate rate is 600 Hz + 1.12sINFOcontroller_managerOverruns handling is : enabled + 1.12sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.12sWARNcontroller_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. + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978800 ms (missed cycles : 3). + 1.22sINFOros2_control_node-1process started with pid [25135] ×2 + 1.22sINFOmove_group-9process started with pid [25161] ×2 + 1.23sINFOparameter_manager_node-10process started with pid [25162] ×2 + 1.23sINFOwaypoint_manager_node-11process started with pid [25163] ×2 + 1.23sINFOmove_joint_resampler_node-12process started with pid [25164] ×2 + 1.23sINFOmove_end_effector_resampler_node-13process started with pid [25165] ×2 + 1.23sINFOobjective_server_node_main-14process started with pid [25166] ×2 + 1.23sINFOcomponent_container_mt-15process started with pid [25167] ×2 + 1.23sINFOexecute_objective_bridge-16process started with pid [25168] ×2 + 1.23sINFOui_teleop_bridge-17process started with pid [25169] ×2 + 1.23sINFOfoxglove_bridge-18process started with pid [25170] ×2 + 1.23sINFOtf2_web_republisher_node-19process started with pid [25171] ×2 + 1.23sINFOweb_video_server-20process started with pid [25290] ×2 + 1.23sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [25136] ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [25137] ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [25138] ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [25140] ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [25142] ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [25144] ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [25145] ×2 + 1.24sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.24sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.24sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.24sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.24sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.24sWARNros2_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 + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978800 ms (missed cycles : 3).[0m ×2 + 1.27sINFOcontroller_managerReceived robot description from topic. + 1.27sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.27sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.27sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.29sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.29sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.30sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.30sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.40sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@) + 1.40sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@)[0m ×2 + 1.40sINFOfoxglove_bridgeServer listening on port 3201 + 1.40sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 1.45sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/moveit_pro_ui/store_joint_state" + 1.46sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/moveit_pro_ui/store_joint_state"[0m ×2 + 1.46sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/move_joint" + 1.46sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/move_joint"[0m ×2 + 1.46sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat" + 1.46sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat"[0m ×2 + 1.47sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector" + 1.47sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector"[0m ×2 + 1.48sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/values" + 1.48sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/values"[0m ×2 + 1.49sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/statistics/full" + 1.49sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/statistics/full"[0m ×2 + 1.50sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/tf" + 1.50sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/tf"[0m ×2 + 1.51sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/diagnostics" + 1.51sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/introspection_data/values" + 1.51sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/diagnostics"[0m ×2 + 1.51sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/introspection_data/values"[0m ×2 + 1.52sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description" + 1.52sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/names" + 1.52sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description"[0m ×2 + 1.52sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/names"[0m ×2 + 1.52sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/controller_manager/introspection_data/full" + 1.52sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/controller_manager/introspection_data/full"[0m ×2 + 1.53sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/activity" + 1.53sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/activity"[0m ×2 + 1.54sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/names" + 1.54sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/agent_interface/move_joint" + 1.54sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static" + 1.54sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/rosout" + 1.55sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/names"[0m ×2 + 1.55sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/agent_interface/move_joint"[0m ×2 + 1.55sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static"[0m ×2 + 1.55sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/rosout"[0m ×2 + 1.56sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/parameter_events" + 1.56sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/parameter_events"[0m ×2 + 1.57sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/agent_interface/move_end_effector" + 1.58sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/agent_interface/move_end_effector"[0m ×2 + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 1.62sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 1.62sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338975 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338975 ms (missed cycles : 3).[0m ×2 + 2.26sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.26sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.27sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.27sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.36sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/robot_description_semantic" + 2.36sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/robot_description_semantic"[0m ×2 + 2.36sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.36sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.36sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.36sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/result"[0m ×2 + 2.36sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m ×2 + 2.36sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m ×2 + 2.41sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/planning_scene_world" + 2.42sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/planning_scene_world"[0m ×2 + 2.43sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.45sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene" + 2.45sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene"[0m ×2 + 2.45sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/joint_states" + 2.45sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.45sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/joint_states"[0m ×2 + 2.45sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m ×2 + 2.45sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object" + 2.45sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object"[0m ×2 + 2.45sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object" + 2.45sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene" + 2.45sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object"[0m ×2 + 2.45sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene"[0m ×2 + 3.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.38sINFOobjective_server_node[2026-06-03 15:02:36.974] [moveit_pro_license] [info] ×2 + 3.38sINFOobjective_server_node************************************************* ×4 + 3.38sINFOobjective_server_node* MoveIt Pro License ×2 + 3.38sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.57sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.57sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.57sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.57sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.57sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.57sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.57sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.57sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.57sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.57sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.57sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.57sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.57sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.69sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/color" + 3.69sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/color"[0m ×2 + 3.70sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/wrist_camera/camera_info" + 3.70sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/wrist_camera/depth" + 3.70sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/scene_camera/depth" + 3.70sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/color" + 3.70sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/wrist_camera/camera_info"[0m ×2 + 3.70sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/wrist_camera/depth"[0m ×2 + 3.70sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/scene_camera/depth"[0m ×2 + 3.70sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/color"[0m ×2 + 3.70sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/wrist_camera/points" + 3.70sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/wrist_camera/points"[0m ×2 + 3.70sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/description" + 3.70sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/description"[0m ×2 + 3.70sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 3.70sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.70sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 3.71sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 3.71sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/statistics" + 3.71sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/statistics"[0m ×2 + 3.71sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/failure_reason_collector" + 3.71sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/points" + 3.71sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/scene_camera/camera_info" + 3.71sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/failure_reason_collector"[0m ×2 + 3.71sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/points"[0m ×2 + 3.71sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/scene_camera/camera_info"[0m ×2 + 3.77sINFOobjective_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 + 3.77sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.79sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.79sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.79sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.79sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.79sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.79sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.79sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.79sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.82sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 3.82sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 3.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 3.83sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 3.83sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' ×2 + 3.84sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×4 + 3.84sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 3.87sINFOros2_control_node[2026-06-03 15:02:37.464] [info] Controller state will be published at 10 Hz. ×2 + 3.87sINFOros2_control_node[2026-06-03 15:02:37.464] [info] VelocityForceController 'on_configure' succeeded. ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215050 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215050 ms (missed cycles : 2).[0m ×2 + 4.40sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/visual_markers" + 4.40sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/visual_markers"[0m ×2 + 4.41sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/velocity_force_controller/transition_event" + 4.41sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/velocity_force_controller/transition_event"[0m ×2 + 4.41sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/command" + 4.41sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/command"[0m ×2 + 4.41sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/transient_monitored_planning_scene_without_octomap" + 4.41sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/transient_monitored_planning_scene_without_octomap"[0m ×2 + 4.42sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/velocity_force_controller/controller_state" + 4.42sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/blackboard_contents" + 4.42sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/velocity_force_controller/controller_state"[0m ×2 + 4.42sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/blackboard_contents"[0m ×2 + 4.42sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/behavior_tree_status" + 4.42sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/behavior_tree_status"[0m ×2 + 4.50sWARNobjective_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 + 4.60sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 4.63sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 4.63sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 4.68sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 4.68sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 4.68sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 4.68sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 4.69sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 4.69sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 4.72sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 4.76sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 4.80sINFOmove_group ×4 + 4.80sINFOmove_group[92mYou can start planning now![0m ×2 + 4.96sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.96sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.96sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.96sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.99sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/trajectory_execution_event" + 4.99sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/trajectory_execution_event"[0m ×2 + 5.02sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 5.02sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 5.06sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 5.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 5.06sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.06sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.09sINFOros2_control_node[2026-06-03 15:02:38.687] [info] Controller state will be published at 20 Hz. ×2 + 5.09sINFOros2_control_node[2026-06-03 15:02:38.687] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050005 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050005 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 5.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 5.42sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.42sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.42sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.42sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.43sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 5.43sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 5.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 25145] ×2 + 5.46sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 5.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 5.46sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.47sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.47sINFOforce_torque_sensor_broadcasterconfigure successful + 5.47sINFOros2_control_nodeconfigure successful[0m ×2 + 5.47sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.47sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 5.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 5.48sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 5.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 5.59sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/controller_state" + 5.59sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/command" + 5.59sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 5.59sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/command"[0m ×2 + 5.60sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench" + 5.60sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/transition_event" + 5.60sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event" + 5.60sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 5.60sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 5.60sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 5.60sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 5.60sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 5.75sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.75sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.75sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.75sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.75sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 5.75sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 5.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 25136] ×2 + 5.79sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 5.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 5.79sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.79sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.79sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 5.79sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 5.79sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 5.79sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.79sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.79sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 5.79sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 5.79sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 5.80sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.80sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.80sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 5.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 6.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 25138] ×2 + 6.12sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.12sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.12sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.12sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.13sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 6.13sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 6.13sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.13sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.15sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/robotiq_gripper_controller/transition_event" + 6.15sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_state_broadcaster/transition_event" + 6.15sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 6.15sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 6.15sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/dynamic_joint_states" + 6.15sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/dynamic_joint_states"[0m ×2 + 6.17sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 6.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 6.17sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.17sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.17sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.17sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun might occur, Total time : 3850.753 us (Expected < 1666.667 us) --> Read time : 150.297 us, Update time : 3396.881 us (Switch time : 3368.930 us (Switch chained mode time : 0.650 us, perform mode change time : 5.080 us, Activation time : 3359.049 us, Deactivation time : 0.390 us)), Write time : 303.575 us + 6.18sWARNros2_control_nodeOverrun might occur, Total time : 3850.753 us (Expected < 1666.667 us) --> Read time : 150.297 us, Update time : 3396.881 us (Switch time : 3368.930 us (Switch chained mode time : 0.650 us, perform mode change time : 5.080 us, Activation time : 3359.049 us, Deactivation time : 0.390 us)), Write time : 303.575 us[0m ×2 + 6.18sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 6.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 6.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780498959.82932377 seconds. ×3 + 6.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780498959.83955288 seconds ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872570 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872570 ms (missed cycles : 2).[0m ×2 + 6.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 25137] ×2 + 6.52sWARNspawner_velocity_force_controllerController already loaded, skipping load_controller + 6.52sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerController already loaded, skipping load_controller ×2 + 6.55sINFOros2_control_node[2026-06-03 15:02:40.147] [info] Controller state will be published at 10 Hz. ×2 + 6.55sINFOros2_control_node[2026-06-03 15:02:40.149] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.74sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event" + 6.74sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event"[0m ×2 + 6.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780498960.38151026 seconds. ×3 + 6.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.92sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.92sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.93sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 6.93sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 6.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 25144] ×2 + 6.98sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 6.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 6.99sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.99sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.99sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.99sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.99sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.99sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.99sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.99sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.99sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.99sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.99sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.99sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 7.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.00sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 7.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 7.24sINFOfoxglove_bridgeRemoving channel 59 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 7.24sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/transition_event" + 7.24sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/speed_scaling_input" + 7.24sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/joint_trajectory" + 7.25sINFOfoxglove_bridgeRemoving channel 59 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 7.25sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 7.25sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 7.25sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 7.25sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_controller/controller_state" + 7.25sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 7.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 25140] ×2 + 7.31sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 7.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380272 ms (missed cycles : 4). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380272 ms (missed cycles : 4).[0m ×2 + 7.56sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 7.56sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 7.56sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 7.56sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 7.66sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 7.66sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 7.68sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 7.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 7.68sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 7.68sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 7.68sINFOros2_control_node[2026-06-03 15:02:41.276] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 7.68sINFOros2_control_node[2026-06-03 15:02:41.276] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 7.71sINFOros2_control_node[2026-06-03 15:02:41.308] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 7.71sINFOros2_control_node[2026-06-03 15:02:41.309] [info] Controller state will be published at 50 Hz. ×2 + 7.72sINFOros2_control_node[2026-06-03 15:02:41.318] [info] Registered `FollowJointTrajectory` action server. ×2 + 7.78sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/transition_event" + 7.78sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_trajectory_admittance_controller/controller_state" + 7.78sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 7.78sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 7.88sWARNcontroller_managerOverrun might occur, Total time : 3164.420 us (Expected < 1666.667 us) --> Read time : 123.336 us, Update time : 62.313 us, Write time : 2978.771 us + 7.88sWARNros2_control_nodeOverrun might occur, Total time : 3164.420 us (Expected < 1666.667 us) --> Read time : 123.336 us, Update time : 62.313 us, Write time : 2978.771 us[0m ×2 + 7.89sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780498961.49164915 seconds ×3 + 8.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 25142] ×2 + 8.45sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 9.00sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 9.00sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 9.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 10.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 10.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 10.31sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 10.31sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2
✓ passed	—	vector_subtrees_example.xml	0.7s	42 warnings · 160 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380272 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380272 ms (missed cycles : 4).[0m ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 0.12sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 0.13sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.13sINFOros2_control_node[2026-06-03 15:02:41.276] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_node[2026-06-03 15:02:41.276] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-06-03 15:02:41.308] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.17sINFOros2_control_node[2026-06-03 15:02:41.309] [info] Controller state will be published at 50 Hz. ×2 + 0.17sINFOros2_control_node[2026-06-03 15:02:41.318] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.24sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/transition_event" + 0.24sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.24sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 0.24sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 0.33sWARNcontroller_managerOverrun might occur, Total time : 3164.420 us (Expected < 1666.667 us) --> Read time : 123.336 us, Update time : 62.313 us, Write time : 2978.771 us + 0.33sWARNros2_control_nodeOverrun might occur, Total time : 3164.420 us (Expected < 1666.667 us) --> Read time : 123.336 us, Update time : 62.313 us, Write time : 2978.771 us[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780498961.49164915 seconds ×3 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 25142] ×2 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 1.45sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 2.76sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 2.76sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.86sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.88sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 4.51sINFOobjective_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 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.60sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 4.90sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 6.04sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 7.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.13sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 7.13sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.14sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 7.14sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	39 warnings · 219 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event" + 0.00sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event"[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780498960.38151026 seconds. ×3 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.19sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.19sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.19sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.19sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.19sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 0.19sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 0.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 25144] ×2 + 0.25sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.25sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.25sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.25sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.25sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.25sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.25sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.25sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.25sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.26sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.26sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.26sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.26sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.26sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 59 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.50sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/transition_event" + 0.51sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/speed_scaling_input" + 0.51sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/joint_trajectory" + 0.51sINFOfoxglove_bridgeRemoving channel 59 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 0.51sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 0.51sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 0.51sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_controller/controller_state" + 0.52sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 0.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 25140] ×2 + 0.57sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380272 ms (missed cycles : 4). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380272 ms (missed cycles : 4).[0m ×2 + 0.83sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.83sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.83sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 0.93sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 0.94sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.94sINFOros2_control_node[2026-06-03 15:02:41.276] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.94sINFOros2_control_node[2026-06-03 15:02:41.276] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_node[2026-06-03 15:02:41.308] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.98sINFOros2_control_node[2026-06-03 15:02:41.309] [info] Controller state will be published at 50 Hz. ×2 + 0.99sINFOros2_control_node[2026-06-03 15:02:41.318] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.05sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/transition_event" + 1.05sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.05sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 1.05sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 1.14sWARNcontroller_managerOverrun might occur, Total time : 3164.420 us (Expected < 1666.667 us) --> Read time : 123.336 us, Update time : 62.313 us, Write time : 2978.771 us + 1.14sWARNros2_control_nodeOverrun might occur, Total time : 3164.420 us (Expected < 1666.667 us) --> Read time : 123.336 us, Update time : 62.313 us, Write time : 2978.771 us[0m ×2 + 1.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780498961.49164915 seconds ×3 + 1.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.17sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 25142] ×2 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 2.27sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 3.57sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.69sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 4.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.71sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.71sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 5.32sINFOobjective_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 + 5.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.40sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 5.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.41sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 5.41sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 5.71sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2
− skipped	—	addtovector.xml	0.0s	4 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-03-14-59-42-006780-0384205dd4a2-24226 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2
− skipped	—	addtovector.xml	0.0s	11 warnings · 240 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/2026-06-03-15-02-32-984421-0384205dd4a2-25088 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.08sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.11sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.12sINFOcontroller_managerupdate rate is 600 Hz + 1.12sINFOcontroller_managerOverruns handling is : enabled + 1.12sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.12sWARNcontroller_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. + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978800 ms (missed cycles : 3). + 1.22sINFOros2_control_node-1process started with pid [25135] ×2 + 1.22sINFOmove_group-9process started with pid [25161] ×2 + 1.23sINFOparameter_manager_node-10process started with pid [25162] ×2 + 1.23sINFOwaypoint_manager_node-11process started with pid [25163] ×2 + 1.23sINFOmove_joint_resampler_node-12process started with pid [25164] ×2 + 1.23sINFOmove_end_effector_resampler_node-13process started with pid [25165] ×2 + 1.23sINFOobjective_server_node_main-14process started with pid [25166] ×2 + 1.23sINFOcomponent_container_mt-15process started with pid [25167] ×2 + 1.23sINFOexecute_objective_bridge-16process started with pid [25168] ×2 + 1.23sINFOui_teleop_bridge-17process started with pid [25169] ×2 + 1.23sINFOfoxglove_bridge-18process started with pid [25170] ×2 + 1.23sINFOtf2_web_republisher_node-19process started with pid [25171] ×2 + 1.23sINFOweb_video_server-20process started with pid [25290] ×2 + 1.23sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [25136] ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [25137] ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [25138] ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [25140] ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [25142] ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [25144] ×2 + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [25145] ×2 + 1.24sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.24sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.24sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.24sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.24sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.24sWARNros2_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 + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978800 ms (missed cycles : 3).[0m ×2 + 1.27sINFOcontroller_managerReceived robot description from topic. + 1.27sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.27sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.27sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.29sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.29sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.30sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.30sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.40sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@) + 1.40sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@)[0m ×2 + 1.40sINFOfoxglove_bridgeServer listening on port 3201 + 1.40sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 1.45sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/moveit_pro_ui/store_joint_state" + 1.46sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/moveit_pro_ui/store_joint_state"[0m ×2 + 1.46sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/move_joint" + 1.46sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/move_joint"[0m ×2 + 1.46sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat" + 1.46sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat"[0m ×2 + 1.47sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector" + 1.47sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector"[0m ×2 + 1.48sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/values" + 1.48sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/values"[0m ×2 + 1.49sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/statistics/full" + 1.49sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/statistics/full"[0m ×2 + 1.50sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/tf" + 1.50sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/tf"[0m ×2 + 1.51sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/diagnostics" + 1.51sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/introspection_data/values" + 1.51sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/diagnostics"[0m ×2 + 1.51sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/introspection_data/values"[0m ×2 + 1.52sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description" + 1.52sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/names" + 1.52sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description"[0m ×2 + 1.52sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/names"[0m ×2 + 1.52sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/controller_manager/introspection_data/full" + 1.52sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/controller_manager/introspection_data/full"[0m ×2 + 1.53sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/activity" + 1.53sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/activity"[0m ×2 + 1.54sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/names" + 1.54sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/agent_interface/move_joint" + 1.54sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static" + 1.54sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/rosout" + 1.55sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/names"[0m ×2 + 1.55sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/agent_interface/move_joint"[0m ×2 + 1.55sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static"[0m ×2 + 1.55sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/rosout"[0m ×2 + 1.56sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/parameter_events" + 1.56sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/parameter_events"[0m ×2 + 1.57sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/agent_interface/move_end_effector" + 1.58sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/agent_interface/move_end_effector"[0m ×2 + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 1.62sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 1.62sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338975 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338975 ms (missed cycles : 3).[0m ×2 + 2.26sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.26sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.27sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.27sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.36sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/robot_description_semantic" + 2.36sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/robot_description_semantic"[0m ×2 + 2.36sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.36sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.36sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.36sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/result"[0m ×2 + 2.36sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m ×2 + 2.36sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m ×2 + 2.41sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/planning_scene_world" + 2.42sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/planning_scene_world"[0m ×2 + 2.43sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.45sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene" + 2.45sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene"[0m ×2 + 2.45sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/joint_states" + 2.45sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.45sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/joint_states"[0m ×2 + 2.45sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m ×2 + 2.45sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object" + 2.45sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object"[0m ×2 + 2.45sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object" + 2.45sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene" + 2.45sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object"[0m ×2 + 2.45sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene"[0m ×2 + 3.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.38sINFOobjective_server_node[2026-06-03 15:02:36.974] [moveit_pro_license] [info] ×2 + 3.38sINFOobjective_server_node************************************************* ×4 + 3.38sINFOobjective_server_node* MoveIt Pro License ×2 + 3.38sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.57sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.57sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.57sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.57sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.57sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.57sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.57sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.57sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.57sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.57sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.57sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.57sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.57sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	1 error · 21 warnings · 60 info
+ 0.00sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.11sINFOmove_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 ****************************************************** + 0.11sINFOmove_group ×8 + 0.11sINFOmove_group****************************************************** ×4 + 0.11sINFOmove_group* MoveGroup using: ×2 + 0.11sINFOmove_group* - apply_planning_scene_service ×2 + 0.11sINFOmove_group* - clear_octomap_service ×2 + 0.11sINFOmove_group* - ExecuteTaskSolution ×2 + 0.11sINFOmove_group* - get_group_urdf ×2 + 0.11sINFOmove_group* - load_geometry_from_file ×2 + 0.11sINFOmove_group* - get_planning_scene_service ×2 + 0.11sINFOmove_group* - kinematics_service ×2 + 0.11sINFOmove_group* - save_geometry_to_file ×2 + 0.11sINFOmove_group* - GetPlanningGroups ×2 + 0.11sINFOmove_group* - SetActiveControllerService ×2 + 0.11sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.11sINFOmove_group[0m ×2 + 0.11sINFOmove_group[92mYou can start planning now![0m ×2 + 0.45sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.45sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 3.72sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 4.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 4.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	54 warnings · 347 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050005 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050005 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.13sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.13sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.13sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 0.13sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 25145] ×2 + 0.17sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.17sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.18sINFOforce_torque_sensor_broadcasterconfigure successful + 0.18sINFOros2_control_nodeconfigure successful[0m ×2 + 0.18sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.18sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.18sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/controller_state" + 0.30sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/command" + 0.30sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/command"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench" + 0.30sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.30sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event" + 0.30sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 0.30sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.45sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.45sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 0.46sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 25136] ×2 + 0.49sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.49sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.49sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.49sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.49sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.49sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.49sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.49sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.49sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.50sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.51sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 25138] ×2 + 0.83sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.83sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.83sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.83sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 0.83sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 0.84sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.84sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.85sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/robotiq_gripper_controller/transition_event" + 0.85sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_state_broadcaster/transition_event" + 0.85sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 0.85sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 0.86sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/dynamic_joint_states" + 0.86sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/dynamic_joint_states"[0m ×2 + 0.88sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 0.88sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.88sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.88sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.88sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.89sWARNcontroller_managerOverrun might occur, Total time : 3850.753 us (Expected < 1666.667 us) --> Read time : 150.297 us, Update time : 3396.881 us (Switch time : 3368.930 us (Switch chained mode time : 0.650 us, perform mode change time : 5.080 us, Activation time : 3359.049 us, Deactivation time : 0.390 us)), Write time : 303.575 us + 0.89sWARNros2_control_nodeOverrun might occur, Total time : 3850.753 us (Expected < 1666.667 us) --> Read time : 150.297 us, Update time : 3396.881 us (Switch time : 3368.930 us (Switch chained mode time : 0.650 us, perform mode change time : 5.080 us, Activation time : 3359.049 us, Deactivation time : 0.390 us)), Write time : 303.575 us[0m ×2 + 0.89sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 0.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 0.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780498959.82932377 seconds. ×3 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780498959.83955288 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872570 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872570 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 25137] ×2 + 1.22sWARNspawner_velocity_force_controllerController already loaded, skipping load_controller + 1.22sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerController already loaded, skipping load_controller ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.22sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.26sINFOros2_control_node[2026-06-03 15:02:40.147] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-03 15:02:40.149] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event" + 1.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event"[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780498960.38151026 seconds. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.63sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.63sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.63sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.63sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.63sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 1.63sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 1.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 25144] ×2 + 1.69sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.69sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.69sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.69sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.69sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.69sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.69sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.69sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.70sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.70sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.70sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.70sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.71sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 1.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 1.94sINFOfoxglove_bridgeRemoving channel 59 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.94sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/transition_event" + 1.95sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/speed_scaling_input" + 1.95sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/joint_trajectory" + 1.95sINFOfoxglove_bridgeRemoving channel 59 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 1.95sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 1.95sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 1.95sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 1.96sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_controller/controller_state" + 1.96sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 2.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 25140] ×2 + 2.01sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380272 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380272 ms (missed cycles : 4).[0m ×2 + 2.27sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.27sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.27sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.37sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 2.37sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 2.38sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 2.38sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.38sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.38sINFOros2_control_node[2026-06-03 15:02:41.276] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.38sINFOros2_control_node[2026-06-03 15:02:41.276] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.42sINFOros2_control_node[2026-06-03 15:02:41.308] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.42sINFOros2_control_node[2026-06-03 15:02:41.309] [info] Controller state will be published at 50 Hz. ×2 + 2.43sINFOros2_control_node[2026-06-03 15:02:41.318] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.49sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/transition_event" + 2.49sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_trajectory_admittance_controller/controller_state" + 2.49sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 2.49sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 2.58sWARNcontroller_managerOverrun might occur, Total time : 3164.420 us (Expected < 1666.667 us) --> Read time : 123.336 us, Update time : 62.313 us, Write time : 2978.771 us + 2.58sWARNros2_control_nodeOverrun might occur, Total time : 3164.420 us (Expected < 1666.667 us) --> Read time : 123.336 us, Update time : 62.313 us, Write time : 2978.771 us[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780498961.49164915 seconds ×3 + 2.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 25142] ×2 + 3.16sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 4.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 5.01sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 5.01sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 5.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 6.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 6.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.11sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.13sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 6.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.13sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 6.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.15sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.15sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 6.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 6.76sINFOobjective_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 + 6.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2
− skipped	—	createvector.xml	0.0s	1 error · 21 warnings · 60 info
+ 0.00sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.11sINFOmove_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 ****************************************************** + 0.11sINFOmove_group ×8 + 0.11sINFOmove_group****************************************************** ×4 + 0.11sINFOmove_group* MoveGroup using: ×2 + 0.11sINFOmove_group* - apply_planning_scene_service ×2 + 0.11sINFOmove_group* - clear_octomap_service ×2 + 0.11sINFOmove_group* - ExecuteTaskSolution ×2 + 0.11sINFOmove_group* - get_group_urdf ×2 + 0.11sINFOmove_group* - load_geometry_from_file ×2 + 0.11sINFOmove_group* - get_planning_scene_service ×2 + 0.11sINFOmove_group* - kinematics_service ×2 + 0.11sINFOmove_group* - save_geometry_to_file ×2 + 0.11sINFOmove_group* - GetPlanningGroups ×2 + 0.11sINFOmove_group* - SetActiveControllerService ×2 + 0.11sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.11sINFOmove_group[0m ×2 + 0.11sINFOmove_group[92mYou can start planning now![0m ×2 + 0.45sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.45sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 3.72sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 4.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 4.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2
− skipped	—	createvector.xml	0.0s	54 warnings · 347 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050005 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050005 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.13sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.13sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.13sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 0.13sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 25145] ×2 + 0.17sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.17sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.18sINFOforce_torque_sensor_broadcasterconfigure successful + 0.18sINFOros2_control_nodeconfigure successful[0m ×2 + 0.18sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.18sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.18sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/controller_state" + 0.30sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/command" + 0.30sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/command"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench" + 0.30sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.30sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event" + 0.30sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 0.30sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.45sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.45sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 0.46sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 25136] ×2 + 0.49sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.49sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.49sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.49sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.49sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.49sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.49sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.49sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.49sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.50sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.51sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 25138] ×2 + 0.83sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.83sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.83sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.83sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 0.83sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 0.84sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.84sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.85sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/robotiq_gripper_controller/transition_event" + 0.85sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_state_broadcaster/transition_event" + 0.85sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 0.85sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 0.86sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/dynamic_joint_states" + 0.86sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/dynamic_joint_states"[0m ×2 + 0.88sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 0.88sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.88sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.88sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.88sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.89sWARNcontroller_managerOverrun might occur, Total time : 3850.753 us (Expected < 1666.667 us) --> Read time : 150.297 us, Update time : 3396.881 us (Switch time : 3368.930 us (Switch chained mode time : 0.650 us, perform mode change time : 5.080 us, Activation time : 3359.049 us, Deactivation time : 0.390 us)), Write time : 303.575 us + 0.89sWARNros2_control_nodeOverrun might occur, Total time : 3850.753 us (Expected < 1666.667 us) --> Read time : 150.297 us, Update time : 3396.881 us (Switch time : 3368.930 us (Switch chained mode time : 0.650 us, perform mode change time : 5.080 us, Activation time : 3359.049 us, Deactivation time : 0.390 us)), Write time : 303.575 us[0m ×2 + 0.89sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 0.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 0.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780498959.82932377 seconds. ×3 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780498959.83955288 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872570 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872570 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 25137] ×2 + 1.22sWARNspawner_velocity_force_controllerController already loaded, skipping load_controller + 1.22sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerController already loaded, skipping load_controller ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.22sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.26sINFOros2_control_node[2026-06-03 15:02:40.147] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-03 15:02:40.149] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event" + 1.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event"[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780498960.38151026 seconds. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.63sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.63sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.63sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.63sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.63sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 1.63sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 1.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 25144] ×2 + 1.69sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.69sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.69sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.69sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.69sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.69sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.69sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.69sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.70sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.70sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.70sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.70sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.71sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 1.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 1.94sINFOfoxglove_bridgeRemoving channel 59 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.94sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/transition_event" + 1.95sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/speed_scaling_input" + 1.95sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/joint_trajectory" + 1.95sINFOfoxglove_bridgeRemoving channel 59 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 1.95sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 1.95sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 1.95sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 1.96sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_controller/controller_state" + 1.96sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 2.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 25140] ×2 + 2.01sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380272 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380272 ms (missed cycles : 4).[0m ×2 + 2.27sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.27sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.27sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.37sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 2.37sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 2.38sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 2.38sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.38sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.38sINFOros2_control_node[2026-06-03 15:02:41.276] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.38sINFOros2_control_node[2026-06-03 15:02:41.276] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.42sINFOros2_control_node[2026-06-03 15:02:41.308] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.42sINFOros2_control_node[2026-06-03 15:02:41.309] [info] Controller state will be published at 50 Hz. ×2 + 2.43sINFOros2_control_node[2026-06-03 15:02:41.318] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.49sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/transition_event" + 2.49sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_trajectory_admittance_controller/controller_state" + 2.49sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 2.49sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 2.58sWARNcontroller_managerOverrun might occur, Total time : 3164.420 us (Expected < 1666.667 us) --> Read time : 123.336 us, Update time : 62.313 us, Write time : 2978.771 us + 2.58sWARNros2_control_nodeOverrun might occur, Total time : 3164.420 us (Expected < 1666.667 us) --> Read time : 123.336 us, Update time : 62.313 us, Write time : 2978.771 us[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780498961.49164915 seconds ×3 + 2.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 25142] ×2 + 3.16sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 4.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 5.01sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 5.01sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 5.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 6.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 6.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.11sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.13sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 6.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.13sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 6.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.15sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.15sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 6.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 6.76sINFOobjective_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 + 6.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	1 error · 21 warnings · 60 info
+ 0.00sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.11sINFOmove_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 ****************************************************** + 0.11sINFOmove_group ×8 + 0.11sINFOmove_group****************************************************** ×4 + 0.11sINFOmove_group* MoveGroup using: ×2 + 0.11sINFOmove_group* - apply_planning_scene_service ×2 + 0.11sINFOmove_group* - clear_octomap_service ×2 + 0.11sINFOmove_group* - ExecuteTaskSolution ×2 + 0.11sINFOmove_group* - get_group_urdf ×2 + 0.11sINFOmove_group* - load_geometry_from_file ×2 + 0.11sINFOmove_group* - get_planning_scene_service ×2 + 0.11sINFOmove_group* - kinematics_service ×2 + 0.11sINFOmove_group* - save_geometry_to_file ×2 + 0.11sINFOmove_group* - GetPlanningGroups ×2 + 0.11sINFOmove_group* - SetActiveControllerService ×2 + 0.11sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.11sINFOmove_group[0m ×2 + 0.11sINFOmove_group[92mYou can start planning now![0m ×2 + 0.45sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.45sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 3.72sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 4.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 4.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	54 warnings · 347 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050005 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050005 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.13sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.13sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.13sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 0.13sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 25145] ×2 + 0.17sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.17sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.18sINFOforce_torque_sensor_broadcasterconfigure successful + 0.18sINFOros2_control_nodeconfigure successful[0m ×2 + 0.18sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.18sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.18sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/controller_state" + 0.30sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/command" + 0.30sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/command"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench" + 0.30sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.30sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event" + 0.30sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 0.30sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.45sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.45sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 0.46sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 25136] ×2 + 0.49sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.49sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.49sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.49sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.49sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.49sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.49sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.49sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.49sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.50sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.51sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 25138] ×2 + 0.83sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.83sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.83sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.83sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 0.83sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 0.84sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.84sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.85sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/robotiq_gripper_controller/transition_event" + 0.85sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_state_broadcaster/transition_event" + 0.85sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 0.85sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 0.86sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/dynamic_joint_states" + 0.86sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/dynamic_joint_states"[0m ×2 + 0.88sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 0.88sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.88sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.88sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.88sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.89sWARNcontroller_managerOverrun might occur, Total time : 3850.753 us (Expected < 1666.667 us) --> Read time : 150.297 us, Update time : 3396.881 us (Switch time : 3368.930 us (Switch chained mode time : 0.650 us, perform mode change time : 5.080 us, Activation time : 3359.049 us, Deactivation time : 0.390 us)), Write time : 303.575 us + 0.89sWARNros2_control_nodeOverrun might occur, Total time : 3850.753 us (Expected < 1666.667 us) --> Read time : 150.297 us, Update time : 3396.881 us (Switch time : 3368.930 us (Switch chained mode time : 0.650 us, perform mode change time : 5.080 us, Activation time : 3359.049 us, Deactivation time : 0.390 us)), Write time : 303.575 us[0m ×2 + 0.89sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 0.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 0.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780498959.82932377 seconds. ×3 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780498959.83955288 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872570 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872570 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 25137] ×2 + 1.22sWARNspawner_velocity_force_controllerController already loaded, skipping load_controller + 1.22sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerController already loaded, skipping load_controller ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.22sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.26sINFOros2_control_node[2026-06-03 15:02:40.147] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-03 15:02:40.149] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event" + 1.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event"[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780498960.38151026 seconds. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.63sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.63sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.63sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.63sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.63sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 1.63sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 1.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 25144] ×2 + 1.69sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.69sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.69sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.69sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.69sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.69sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.69sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.69sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.70sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.70sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.70sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.70sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.71sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 1.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 1.94sINFOfoxglove_bridgeRemoving channel 59 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.94sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/transition_event" + 1.95sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/speed_scaling_input" + 1.95sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/joint_trajectory" + 1.95sINFOfoxglove_bridgeRemoving channel 59 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 1.95sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 1.95sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 1.95sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 1.96sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_controller/controller_state" + 1.96sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 2.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 25140] ×2 + 2.01sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380272 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380272 ms (missed cycles : 4).[0m ×2 + 2.27sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.27sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.27sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.37sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 2.37sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 2.38sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 2.38sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.38sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.38sINFOros2_control_node[2026-06-03 15:02:41.276] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.38sINFOros2_control_node[2026-06-03 15:02:41.276] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.42sINFOros2_control_node[2026-06-03 15:02:41.308] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.42sINFOros2_control_node[2026-06-03 15:02:41.309] [info] Controller state will be published at 50 Hz. ×2 + 2.43sINFOros2_control_node[2026-06-03 15:02:41.318] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.49sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/transition_event" + 2.49sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_trajectory_admittance_controller/controller_state" + 2.49sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 2.49sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 2.58sWARNcontroller_managerOverrun might occur, Total time : 3164.420 us (Expected < 1666.667 us) --> Read time : 123.336 us, Update time : 62.313 us, Write time : 2978.771 us + 2.58sWARNros2_control_nodeOverrun might occur, Total time : 3164.420 us (Expected < 1666.667 us) --> Read time : 123.336 us, Update time : 62.313 us, Write time : 2978.771 us[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780498961.49164915 seconds ×3 + 2.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 25142] ×2 + 3.16sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 4.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 5.01sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 5.01sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 5.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 6.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 6.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.11sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.13sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 6.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.13sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 6.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.15sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.15sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 6.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 6.76sINFOobjective_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 + 6.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2
− skipped	—	request_teleoperation.xml	0.0s	36 warnings · 216 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event" + 0.00sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event"[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780498960.38151026 seconds. ×3 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.19sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.19sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.19sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.19sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.19sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 0.19sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 0.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 25144] ×2 + 0.25sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.25sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.25sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.25sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.25sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.25sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.25sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.25sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.25sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.26sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.26sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.26sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.26sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.26sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 59 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.50sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/transition_event" + 0.51sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/speed_scaling_input" + 0.51sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/joint_trajectory" + 0.51sINFOfoxglove_bridgeRemoving channel 59 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 0.51sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 0.51sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 0.51sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_controller/controller_state" + 0.52sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 0.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 25140] ×2 + 0.57sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380272 ms (missed cycles : 4). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380272 ms (missed cycles : 4).[0m ×2 + 0.83sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.83sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.83sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 0.93sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 0.94sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.94sINFOros2_control_node[2026-06-03 15:02:41.276] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.94sINFOros2_control_node[2026-06-03 15:02:41.276] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_node[2026-06-03 15:02:41.308] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.98sINFOros2_control_node[2026-06-03 15:02:41.309] [info] Controller state will be published at 50 Hz. ×2 + 0.99sINFOros2_control_node[2026-06-03 15:02:41.318] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.05sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/transition_event" + 1.05sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.05sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 1.05sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 1.14sWARNcontroller_managerOverrun might occur, Total time : 3164.420 us (Expected < 1666.667 us) --> Read time : 123.336 us, Update time : 62.313 us, Write time : 2978.771 us + 1.14sWARNros2_control_nodeOverrun might occur, Total time : 3164.420 us (Expected < 1666.667 us) --> Read time : 123.336 us, Update time : 62.313 us, Write time : 2978.771 us[0m ×2 + 1.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780498961.49164915 seconds ×3 + 1.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.17sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 25142] ×2 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 2.27sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 3.57sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.69sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 4.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.71sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.71sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 5.32sINFOobjective_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 + 5.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.40sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 5.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.41sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 5.41sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 5.71sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2
− skipped	—	teleoperate.xml	0.0s	39 warnings · 149 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380272 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380272 ms (missed cycles : 4).[0m ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 0.12sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 0.13sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.13sINFOros2_control_node[2026-06-03 15:02:41.276] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_node[2026-06-03 15:02:41.276] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-06-03 15:02:41.308] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.17sINFOros2_control_node[2026-06-03 15:02:41.309] [info] Controller state will be published at 50 Hz. ×2 + 0.17sINFOros2_control_node[2026-06-03 15:02:41.318] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.24sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/transition_event" + 0.24sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.24sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 0.24sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 0.33sWARNcontroller_managerOverrun might occur, Total time : 3164.420 us (Expected < 1666.667 us) --> Read time : 123.336 us, Update time : 62.313 us, Write time : 2978.771 us + 0.33sWARNros2_control_nodeOverrun might occur, Total time : 3164.420 us (Expected < 1666.667 us) --> Read time : 123.336 us, Update time : 62.313 us, Write time : 2978.771 us[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780498961.49164915 seconds ×3 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 25142] ×2 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 1.45sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 2.76sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 2.76sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.86sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.88sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 4.51sINFOobjective_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 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.60sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 4.90sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 6.04sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	41 warnings
+ 0.00sWARNros2 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 + 0.21sWARNros2 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 + 0.30sWARNros2 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 + 0.39sWARNros2 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 + 0.40sWARNros2 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 + 0.40sWARNros2 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 + 0.43sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.43sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.48sWARNros2 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... ×2 + 0.59sWARNros2 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 + 0.62sWARNros2 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 + 0.63sWARNros2 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	36 warnings · 118 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 5.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×2
− skipped	—	wait_for_trajectory_approval_if_user_available.xml	0.0s	36 warnings · 118 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 5.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×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	39 warnings · 118 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 5.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×2 + 6.74sWARNcontroller_managerOverrun might occur, Total time : 1724.742 us (Expected < 1666.667 us) --> Read time : 119.896 us, Update time : 1169.235 us, Write time : 435.611 us + 6.74sWARNros2_control_nodeOverrun might occur, Total time : 1724.742 us (Expected < 1666.667 us) --> Read time : 119.896 us, Update time : 1169.235 us, Write time : 435.611 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	56 warnings
+ 0.00sWARNros2 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 + 0.21sWARNros2 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 + 0.30sWARNros2 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 + 0.39sWARNros2 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 + 0.40sWARNros2 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 + 0.40sWARNros2 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 + 0.43sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×12 + 0.43sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×24 + 0.48sWARNros2 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... ×2 + 0.59sWARNros2 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 + 0.62sWARNros2 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 + 0.63sWARNros2 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	41 warnings
+ 0.00sWARNros2 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 + 0.21sWARNros2 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 + 0.30sWARNros2 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 + 0.39sWARNros2 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 + 0.40sWARNros2 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 + 0.40sWARNros2 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 + 0.43sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.43sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.48sWARNros2 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... ×2 + 0.59sWARNros2 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 + 0.62sWARNros2 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 + 0.63sWARNros2 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	36 warnings · 118 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 5.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	36 warnings · 118 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 5.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×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	36 warnings · 118 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 5.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×2

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

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✓ passed	MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml	44.4s	12213 errors · 276 warnings · 12346 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1742.013 us (Expected < 1666.667 us) --> Read time : 139.897 us, Update time : 1261.610 us, Write time : 340.506 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1742.013 us (Expected < 1666.667 us) --> Read time : 139.897 us, Update time : 1261.610 us, Write time : 340.506 us[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585203 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585203 ms (missed cycles : 4).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776014 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776014 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 6129.002 us (Expected < 1666.667 us) --> Read time : 145.967 us, Update time : 5401.587 us, Write time : 581.448 us + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 6129.002 us (Expected < 1666.667 us) --> Read time : 145.967 us, Update time : 5401.587 us, Write time : 581.448 us[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109684 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109684 ms (missed cycles : 2).[0m ×2 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 6083.088 us (Expected < 1666.667 us) --> Read time : 145.897 us, Update time : 5466.189 us, Write time : 471.002 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 6083.088 us (Expected < 1666.667 us) --> Read time : 145.897 us, Update time : 5466.189 us, Write time : 471.002 us[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780499111.69579554 seconds ×3 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.20sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event" + 3.20sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event"[0m ×2 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780499112.25982141 seconds. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551042 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551042 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.36sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.37sINFOros2_control_node[2026-06-03 15:05:12.423] [info] Received new action goal ×2 + 3.37sINFOros2_control_node[2026-06-03 15:05:12.423] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun might occur, Total time : 6091.960 us (Expected < 1666.667 us) --> Read time : 103.875 us, Update time : 5506.282 us, Write time : 481.803 us + 4.14sWARNros2_control_nodeOverrun might occur, Total time : 6091.960 us (Expected < 1666.667 us) --> Read time : 103.875 us, Update time : 5506.282 us, Write time : 481.803 us[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815847 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815847 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_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 + 4.64sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.69sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.69sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.657390 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.657390 ms (missed cycles : 9).[0m ×2 + 5.30sWARNcontroller_managerOverrun might occur, Total time : 2035.296 us (Expected < 1666.667 us) --> Read time : 210.860 us, Update time : 1387.826 us, Write time : 436.610 us + 5.30sWARNros2_control_nodeOverrun might occur, Total time : 2035.296 us (Expected < 1666.667 us) --> Read time : 210.860 us, Update time : 1387.826 us, Write time : 436.610 us[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088784 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088784 ms (missed cycles : 4).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2130.281 us (Expected < 1666.667 us) --> Read time : 725.134 us, Update time : 68.733 us, Write time : 1336.414 us + 6.46sWARNros2_control_nodeOverrun might occur, Total time : 2130.281 us (Expected < 1666.667 us) --> Read time : 725.134 us, Update time : 68.733 us, Write time : 1336.414 us[0m ×2 + 6.98sINFOjoint_trajectory_controllerReceived new action goal ×4071 + 6.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000045816239421 + 6.98sINFOros2_control_nodeReceived new action goal[0m ×8142 + 6.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000045816239421[0m ×2 + 6.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000071627425891 + 6.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000071627425891[0m ×2 + 6.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013912927849 + 6.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013912927849[0m ×2 + 7.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003483235568 ×2 + 7.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003483235568[0m ×4 + 7.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012174986175 + 7.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012174986175[0m ×2 + 7.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000294522502 + 7.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000294522502[0m ×2 + 7.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000170627741179 + 7.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000170627741179[0m ×2 + 7.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001244533650753 + 7.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001244533650753[0m ×2 + 7.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000612041493728 + 7.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000612041493728[0m ×2 + 7.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000778546441745 + 7.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000778546441745[0m ×2 + 7.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000416320454080 + 7.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000416320454080[0m ×2 + 7.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000163919058395 ×2 + 7.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000163919058395[0m ×4 + 7.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000162605951833 + 7.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000162605951833[0m ×2 + 7.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037632151375 + 7.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037632151375[0m ×2 + 7.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000313325890053 + 7.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000313325890053[0m ×2 + 7.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000448376535568 + 7.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000448376535568[0m ×2 + 7.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000803011583822 ×2 + 7.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000803011583822[0m ×4 + 7.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000425047815574 + 7.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000425047815574[0m ×2 + 7.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000104344497195 + 7.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000104344497195[0m ×2 + 7.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000104336774834 + 7.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000104336774834[0m ×2 + 7.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000448937350057 + 7.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000448937350057[0m ×2 + 7.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000461922796258 + 7.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000461922796258[0m ×2 + 7.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001023269993194 + 7.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001023269993194[0m ×2 + 7.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000917783756017 + 7.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000917783756017[0m ×2 + 7.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000200259133843 + 7.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000200259133843[0m ×2 + 7.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092644636160 ×2 + 7.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092644636160[0m ×4 + 7.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019901061356 ×2 + 7.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019901061356[0m ×4 + 7.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000483915358347 + 7.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000483915358347[0m ×2 + 7.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000414945110864 + 7.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000414945110864[0m ×2 + 7.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000186147306903 + 7.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000186147306903[0m ×2 + 7.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000114535139910 + 7.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000114535139910[0m ×2 + 7.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000114299557035 + 7.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000114299557035[0m ×2 + 7.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000679655977710 + 7.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000679655977710[0m ×2 + 7.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000927414431512 + 7.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000927414431512[0m ×2 + 7.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000518795727220 + 7.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000518795727220[0m ×2 + 7.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000167470836762 + 7.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000167470836762[0m ×2 + 7.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000151805108677 + 7.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000151805108677[0m ×2 + 7.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012261107895 + 7.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012261107895[0m ×2 + 7.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000098756794702 + 7.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000098756794702[0m ×2 + 7.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000125325355921 + 7.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000125325355921[0m ×2 + 7.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000911037024032 + 7.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000911037024032[0m ×2 + 7.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000480423952394 + 7.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000480423952394[0m ×2 + 7.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000544975827668 + 7.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000544975827668[0m ×2 + 7.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000630375658122 + 7.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000630375658122[0m ×2 + 7.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000204005688306 + 7.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000204005688306[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417360 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417360 ms (missed cycles : 3).[0m ×2 + 7.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022308724453 + 7.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022308724453[0m ×2 + 7.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000175368675673 + 7.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000175368675673[0m ×2 + 7.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000175212856934 + 7.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000175212856934[0m ×2 + 7.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000172514288438 + 7.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000172514288438[0m ×2 + 7.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000172923597391 + 7.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000172923597391[0m ×2 + 7.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000064034928913 + 7.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000064034928913[0m ×2 + 7.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000256282335300 + 7.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000256282335300[0m ×2 + 7.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000256493160704 + 7.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000256493160704[0m ×2 + 7.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000237586055324 + 7.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000237586055324[0m ×2 + 7.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000237865475097 + 7.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000237865475097[0m ×2 + 7.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000172187634504 + 7.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000172187634504[0m ×2 + 7.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000251608695056 + 7.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000251608695056[0m ×2 + 7.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000255662637866 + 7.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000255662637866[0m ×2 + 7.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000549552909103 + 7.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000549552909103[0m ×2 + 7.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000634218998492 + 7.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000634218998492[0m ×2 + 7.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000733490561623 + 7.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000733490561623[0m ×2 + 7.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059606670079 + 7.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059606670079[0m ×2 + 7.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000061922218730 + 7.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000061922218730[0m ×2 + 7.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097622458011 + 7.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097622458011[0m ×2 + 7.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000219939017184 + 7.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000219939017184[0m ×2 + 7.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000252325693095 + 7.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000252325693095[0m ×2 + 7.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000100802871966 + 7.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000100802871966[0m ×2 + 7.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000100346020689 + 7.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000100346020689[0m ×2 + 7.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038695506157 + 7.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038695506157[0m ×2 + 7.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000429763063112 + 7.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000429763063112[0m ×2 + 7.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000214881349982 + 7.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000214881349982[0m ×2 + 7.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000182550435269 + 7.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000182550435269[0m ×2 + 7.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054776725939 + 7.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054776725939[0m ×2 + 7.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000066975738541 + 7.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000066975738541[0m ×2 + 7.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000082994908399 + 7.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000082994908399[0m ×2 + 7.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020751515226 ×2 + 7.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020751515226[0m ×4 + 7.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024623468209 + 7.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024623468209[0m ×2 + 7.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052216304089 + 7.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052216304089[0m ×2 + 7.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046583348662 ×2 + 7.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046583348662[0m ×4 + 7.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037465481396 + 7.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037465481396[0m ×2 + 7.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029356445011 ×2 + 7.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029356445011[0m ×4 + 7.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010644664168 + 7.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010644664168[0m ×2 + 7.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000133944177034 + 7.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000133944177034[0m ×2 + 7.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000116738536142 + 7.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000116738536142[0m ×2 + 7.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000543818821211 + 7.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000543818821211[0m ×2 + 7.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000598874593289 + 7.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000598874593289[0m ×2 + 7.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001782008860575 + 7.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001782008860575[0m ×2 + 7.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000762529107631 + 7.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000762529107631[0m ×2 + 7.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001161849179889 + 7.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001161849179889[0m ×2 + 7.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000606604350993 + 7.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000606604350993[0m ×2 + 7.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000251042155737 + 7.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000251042155737[0m ×2 + 7.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000793508690770 + 7.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000793508690770[0m ×2 + 7.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017797549265 ×2 + 7.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017797549265[0m ×4 + 7.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109629201083 + 7.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109629201083[0m ×2 + 7.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000104296060873 + 7.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000104296060873[0m ×2 + 7.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000411638302873 + 7.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000411638302873[0m ×2 + 7.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000321642638718 + 7.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000321642638718[0m ×2 + 7.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000321659766098 + 7.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000321659766098[0m ×2 + 7.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000420594530678 ×2 + 7.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000420594530678[0m ×4 + 7.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001535246195353 + 7.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001535246195353[0m ×2 + 7.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000617122807718 + 7.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000617122807718[0m ×2 + 7.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000332735564657 + 7.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000332735564657[0m ×2 + 7.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000332774635134 + 7.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000332774635134[0m ×2 + 7.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000060985971212 + 7.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000060985971212[0m ×2 + 7.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000396495970954 + 7.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000396495970954[0m ×2 + 7.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000283352443755 + 7.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000283352443755[0m ×2 + 7.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000436785650160 + 7.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000436785650160[0m ×2 + 7.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000510142291635 + 7.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000510142291635[0m ×2 + 7.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000625223771332 + 7.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000625223771332[0m ×2 + 7.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000822080444090 + 7.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000822080444090[0m ×2 + 7.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000732627725491 + 7.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000732627725491[0m ×2 + 7.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001062233099493 + 7.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001062233099493[0m ×2 + 7.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001424658038436 + 7.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001424658038436[0m ×2 + 7.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002021365837991 + 7.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002021365837991[0m ×2 + 7.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001768782716913 + 7.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001768782716913[0m ×2 + 7.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001566260927262 + 7.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001566260927262[0m ×2 + 7.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001412055123689 + 7.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001412055123689[0m ×2 + 7.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001776818747417 + 7.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001776818747417[0m ×2 + 7.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001519690471725 + 7.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001519690471725[0m ×2 + 7.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001626816912771 + 7.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001626816912771[0m ×2 + 7.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001404394955187 + 7.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001404394955187[0m ×2 + 7.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001257496205703 + 7.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001257496205703[0m ×2 + 7.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001289006713653 + 7.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001289006713653[0m ×2 + 7.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001223792940739 + 7.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001223792940739[0m ×2 + 7.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001214447405033 + 7.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001214447405033[0m ×2 + 7.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001563451994073 + 7.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001563451994073[0m ×2 + 7.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001391687365009 + 7.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001391687365009[0m ×2 + 8.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000895626191548 + 8.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000895626191548[0m ×2 + 8.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001099113403554 + 8.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001099113403554[0m ×2 + 8.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001091784532727 + 8.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001091784532727[0m ×2 + 8.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001200800047447 + 8.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001200800047447[0m ×2 + 8.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001160580943676 + 8.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001160580943676[0m ×2 + 8.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001113420135261 + 8.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001113420135261[0m ×2 + 8.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001273305256619 + 8.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001273305256619[0m ×2 + 8.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001208070010668 + 8.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001208070010668[0m ×2 + 8.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001408640803324 + 8.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001408640803324[0m ×2 + 8.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001298724167331 + 8.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001298724167331[0m ×2 + 8.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001229936671404 + 8.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001229936671404[0m ×2 + 8.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001433531143036 + 8.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001433531143036[0m ×2 + 8.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001309693283744 + 8.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001309693283744[0m ×2 + 8.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001420046541729 + 8.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001420046541729[0m ×2 + 8.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001302599434211 + 8.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001302599434211[0m ×2 + 8.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001413290392205 + 8.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001413290392205[0m ×2 + 8.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001298595160499 + 8.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001298595160499[0m ×2 + 8.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001229261691958 + 8.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001229261691958[0m ×2 + 8.12sWARNcontroller_managerOverrun might occur, Total time : 4466.803 us (Expected < 1666.667 us) --> Read time : 135.037 us, Update time : 3826.082 us, Write time : 505.684 us + 8.12sWARNros2_control_nodeOverrun might occur, Total time : 4466.803 us (Expected < 1666.667 us) --> Read time : 135.037 us, Update time : 3826.082 us, Write time : 505.684 us[0m ×2 + 8.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001191988159594 + 8.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001191988159594[0m ×2 + 8.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001348971937099 + 8.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001348971937099[0m ×2 + 8.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001308356910599 + 8.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001308356910599[0m ×2 + 8.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001689084352875 + 8.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001689084352875[0m ×2 + 8.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001544869248337 + 8.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001544869248337[0m ×2 + 8.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001427950167097 + 8.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001427950167097[0m ×2 + 8.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001474679601436 + 8.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001474679601436[0m ×2 + 8.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001587781423344 + 8.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001587781423344[0m ×2 + 8.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001462265981799 + 8.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001462265981799[0m ×2 + 8.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002282190797064 + 8.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002282190797064[0m ×2 + 8.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001848991104064 + 8.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001848991104064[0m ×2 + 8.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001585560013130 + 8.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001585560013130[0m ×2 + 8.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001801594339651 + 8.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001801594339651[0m ×2 + 8.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001547812544658 + 8.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001547812544658[0m ×2 + 8.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002705491473872 + 8.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002705491473872[0m ×2 + 8.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002096313969664 + 8.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002096313969664[0m ×2 + 8.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002323672362030 + 8.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002323672362030[0m ×2 + 8.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001823420412202 + 8.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001823420412202[0m ×2 + 8.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515278066283 + 8.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515278066283[0m ×2 + 8.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000540274561424 + 8.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000540274561424[0m ×2 + 8.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000917510661419 + 8.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000917510661419[0m ×2 + 8.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000936017242549 + 8.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000936017242549[0m ×2 + 8.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001114342104761 + 8.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001114342104761[0m ×2 + 8.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001852090528780 + 8.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001852090528780[0m ×2 + 8.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001887775980461 + 8.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001887775980461[0m ×2 + 8.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002890903371190 + 8.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002890903371190[0m ×2 + 8.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002297236963511 + 8.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002297236963511[0m ×2 + 8.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002700009594628 + 8.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002700009594628[0m ×2 + 8.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002129905973166 + 8.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002129905973166[0m ×2 + 8.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002247622195635 + 8.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002247622195635[0m ×2 + 8.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001828205471838 + 8.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001828205471838[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810328 ms (missed cycles : 4). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810328 ms (missed cycles : 4).[0m ×2 + 8.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001356258360451 + 8.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001356258360451[0m ×2 + 8.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001282130947330 + 8.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001282130947330[0m ×2 + 8.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000599141660681 + 8.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000599141660681[0m ×2 + 8.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001985553332575 + 8.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001985553332575[0m ×2 + 8.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001711952113691 + 8.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001711952113691[0m ×2 + 8.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001531762202004 + 8.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001531762202004[0m ×2 + 8.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001752506309702 + 8.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001752506309702[0m ×2 + 8.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001560862835633 + 8.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001560862835633[0m ×2 + 8.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001781829021268 + 8.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001781829021268[0m ×2 + 8.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001582326558806 + 8.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001582326558806[0m ×2 + 8.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001459765731398 + 8.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001459765731398[0m ×2 + 8.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001381976093083 + 8.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001381976093083[0m ×2 + 8.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001997574278094 + 8.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001997574278094[0m ×2 + 8.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001743343489787 + 8.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001743343489787[0m ×2 + 8.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001863896865380 + 8.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001863896865380[0m ×2 + 8.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001650349107244 + 8.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001650349107244[0m ×2 + 8.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001513099208899 + 8.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001513099208899[0m ×2 + 8.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000673881923408 + 8.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000673881923408[0m ×2 + 8.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001587093388921 + 8.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001587093388921[0m ×2 + 8.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001812370997863 + 8.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001812370997863[0m ×2 + 8.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002290132768106 + 8.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002290132768106[0m ×2 + 8.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001940565187166 + 8.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001940565187166[0m ×2 + 8.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002165147096442 + 8.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002165147096442[0m ×2 + 8.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001833170471608 + 8.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001833170471608[0m ×2 + 8.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001638275923059 + 8.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001638275923059[0m ×2 + 8.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001519823237174 + 8.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001519823237174[0m ×2 + 8.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002112837734957 + 8.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002112837734957[0m ×2 + 8.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001829452939005 + 8.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001829452939005[0m ×2 + 8.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002056161645343 + 8.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002056161645343[0m ×2 + 8.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001780523293807 + 8.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001780523293807[0m ×2 + 8.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001607378458580 + 8.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001607378458580[0m ×2 + 8.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002033858858304 + 8.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002033858858304[0m ×2 + 8.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001766494443022 + 8.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001766494443022[0m ×2 + 8.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001995225200925 + 8.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001995225200925[0m ×2 + 8.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001741830922329 + 8.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001741830922329[0m ×2 + 8.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001586676811587 + 8.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001586676811587[0m ×2 + 8.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001721872117608 + 8.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001721872117608[0m ×2 + 8.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001581715121973 + 8.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001581715121973[0m ×2 + 8.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001649027876201 + 8.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001649027876201[0m ×2 + 8.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002257213655581 + 8.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002257213655581[0m ×2 + 8.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001960458542075 + 8.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001960458542075[0m ×2 + 8.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002191585767473 + 8.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002191585767473[0m ×2 + 8.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001902172613483 + 8.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001902172613483[0m ×2 + 8.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001713102161117 + 8.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001713102161117[0m ×2 + 8.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002141489635193 + 8.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002141489635193[0m ×2 + 8.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001859924207656 + 8.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001859924207656[0m ×2 + 8.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002092226345260 + 8.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002092226345260[0m ×2 + 8.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001822081377109 + 8.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001822081377109[0m ×2 + 8.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001654509125255 + 8.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001654509125255[0m ×2 + 8.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001556985437472 + 8.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001556985437472[0m ×2 + 8.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001988785239177 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001988785239177[0m ×2 + 8.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001772508663433 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001772508663433[0m ×2 + 8.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001409698248764 + 8.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001409698248764[0m ×2 + 8.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001477782856974 + 8.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001477782856974[0m ×2 + 8.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001455325159869 + 8.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001455325159869[0m ×2 + 8.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001654759994579 + 8.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001654759994579[0m ×2 + 8.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789046391467 + 8.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789046391467[0m ×2 + 8.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002405733702327 + 8.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002405733702327[0m ×2 + 8.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002645463234713 + 8.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002645463234713[0m ×2 + 8.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002241392493782 + 8.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002241392493782[0m ×2 + 8.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002368977573718 + 8.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002368977573718[0m ×2 + 8.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001589294340643 + 8.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001589294340643[0m ×2 + 8.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002283890501466 + 8.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002283890501466[0m ×2 + 8.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002710266246644 + 8.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002710266246644[0m ×2 + 8.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002772298667950 + 8.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002772298667950[0m ×2 + 8.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001496388625898 + 8.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001496388625898[0m ×2 + 8.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002177132746553 + 8.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002177132746553[0m ×2 + 8.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002484475208942 + 8.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002484475208942[0m ×2 + 8.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002821906962973 + 8.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002821906962973[0m ×2 + 8.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003001460630813 + 8.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003001460630813[0m ×2 + 8.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003130043141045 + 8.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003130043141045[0m ×2 + 8.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002475018249513 + 8.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002475018249513[0m ×2 + 8.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002046512193891 + 8.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002046512193891[0m ×2 + 8.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002473901648424 + 8.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002473901648424[0m ×2 + 8.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002511845327616 + 8.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002511845327616[0m ×2 + 8.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002086635061364 + 8.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002086635061364[0m ×2 + 8.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001811455436858 + 8.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001811455436858[0m ×2 + 8.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002256000225986 + 8.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002256000225986[0m ×2 + 8.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001930212419077 + 8.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001930212419077[0m ×2 + 8.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002429479643631 + 8.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002429479643631[0m ×2 + 8.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002440600433711 + 8.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002440600433711[0m ×2 + 9.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002061419984185 + 9.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002061419984185[0m ×2 + 9.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001875333302772 + 9.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001875333302772[0m ×2 + 9.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002451059914710 + 9.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002451059914710[0m ×2 + 9.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002113395340902 + 9.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002113395340902[0m ×2 + 9.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002812478406786 + 9.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002812478406786[0m ×2 + 9.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002061644342950 + 9.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002061644342950[0m ×2 + 9.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002509545463438 + 9.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002509545463438[0m ×2 + 9.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002107345207449 + 9.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002107345207449[0m ×2 + 9.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001842968936393 + 9.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001842968936393[0m ×2 + 9.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002289235821260 + 9.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002289235821260[0m ×2 + 9.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001966858821581 + 9.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001966858821581[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002474967775541 + 9.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002474967775541[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002513901392663 + 9.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002513901392663[0m ×2 + 9.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001553336231543 + 9.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001553336231543[0m ×2 + 9.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001796533937610 + 9.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001796533937610[0m ×2 + 9.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001670796279239 + 9.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001670796279239[0m ×2 + 9.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002313655391887 + 9.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002313655391887[0m ×2 + 9.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002021926271631 + 9.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002021926271631[0m ×2 + 9.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002544018333866 + 9.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002544018333866[0m ×2 + 9.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002547350264948 + 9.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002547350264948[0m ×2 + 9.16sWARNcontroller_managerOverrun might occur, Total time : 1956.503 us (Expected < 1666.667 us) --> Read time : 679.442 us, Update time : 914.134 us, Write time : 362.927 us + 9.17sWARNros2_control_nodeOverrun might occur, Total time : 1956.503 us (Expected < 1666.667 us) --> Read time : 679.442 us, Update time : 914.134 us, Write time : 362.927 us[0m ×2 + 9.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002166418534737 + 9.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002166418534737[0m ×2 + 9.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001585897715638 + 9.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001585897715638[0m ×2 + 9.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001834865785036 + 9.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001834865785036[0m ×2 + 9.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002506375824383 + 9.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002506375824383[0m ×2 + 9.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002917183497125 + 9.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002917183497125[0m ×2 + 9.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437462178911 + 9.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437462178911[0m ×2 + 9.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002895556071203 + 9.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002895556071203[0m ×2 + 9.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002395367610642 + 9.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002395367610642[0m ×2 + 9.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002640533052651 + 9.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002640533052651[0m ×2 + 9.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002216486929597 + 9.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002216486929597[0m ×2 + 9.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001103471949935 ×2 + 9.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001103471949935[0m ×4 + 9.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001962179471892 + 9.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001962179471892[0m ×2 + 9.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002545223997250 + 9.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002545223997250[0m ×2 + 9.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003030753497982 + 9.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003030753497982[0m ×2 + 9.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002496745484362 + 9.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002496745484362[0m ×2 + 9.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002746424424068 + 9.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002746424424068[0m ×2 + 9.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002294556327183 + 9.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002294556327183[0m ×2 + 9.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002751845340190 + 9.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002751845340190[0m ×2 + 9.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002286165942649 + 9.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002286165942649[0m ×2 + 9.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002724465648010 + 9.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002724465648010[0m ×2 + 9.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797088501384 + 9.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797088501384[0m ×2 + 9.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002312540981836 + 9.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002312540981836[0m ×2 + 9.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002768996178030 + 9.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002768996178030[0m ×2 + 9.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002178213082332 + 9.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002178213082332[0m ×2 + 9.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002039118797716 + 9.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002039118797716[0m ×2 + 9.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002288014746965 + 9.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002288014746965[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.021942 ms (missed cycles : 5). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.021942 ms (missed cycles : 5).[0m ×2 + 9.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002786600939294 + 9.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002786600939294[0m ×2 + 9.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001783816847077 + 9.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001783816847077[0m ×2 + 9.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002245028129601 + 9.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002245028129601[0m ×2 + 9.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002785093218974 + 9.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002785093218974[0m ×2 + 9.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003246574505896 + 9.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003246574505896[0m ×2 + 9.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002471709203720 + 9.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002471709203720[0m ×2 + 9.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002933940177877 + 9.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002933940177877[0m ×2 + 9.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003175557137082 + 9.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003175557137082[0m ×2 + 9.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003311341436075 + 9.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003311341436075[0m ×2 + 9.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002663340958309 + 9.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002663340958309[0m ×2 + 9.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002960234545713 + 9.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002960234545713[0m ×2 + 9.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003096347060355 + 9.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003096347060355[0m ×2 + 9.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002490668757337 + 9.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002490668757337[0m ×2 + 9.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002954323432002 + 9.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002954323432002[0m ×2 + 9.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002403642122340 + 9.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002403642122340[0m ×2 + 9.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002862488388057 + 9.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002862488388057[0m ×2 + 9.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002340571618084 + 9.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002340571618084[0m ×2 + 9.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003886335239683 + 9.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003886335239683[0m ×2 + 9.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003176463681595 + 9.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003176463681595[0m ×2 + 9.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004040916434753 + 9.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004040916434753[0m ×2 + 9.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003868651407961 + 9.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003868651407961[0m ×2 + 9.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003717619976534 + 9.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003717619976534[0m ×2 + 9.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004143718604960 + 9.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004143718604960[0m ×2 + 9.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003165480776491 + 9.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003165480776491[0m ×2 + 9.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003221732742375 + 9.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003221732742375[0m ×2 + 9.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003359378058601 + 9.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003359378058601[0m ×2 + 9.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002034135264112 + 9.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002034135264112[0m ×2 + 9.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002168106024452 + 9.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002168106024452[0m ×2 + 9.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001864428691891 + 9.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001864428691891[0m ×2 + 9.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437686617215 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437686617215[0m ×2 + 9.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002691976664840 + 9.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002691976664840[0m ×2 + 9.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002186300137611 + 9.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002186300137611[0m ×2 + 9.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002722907903978 + 9.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002722907903978[0m ×2 + 9.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003187388801851 + 9.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003187388801851[0m ×2 + 9.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002663932225765 + 9.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002663932225765[0m ×2 + 9.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002918478629502 + 9.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002918478629502[0m ×2 + 9.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002420726382740 + 9.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002420726382740[0m ×2 + 9.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002891937406458 + 9.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002891937406458[0m ×2 + 9.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002397557337400 + 9.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002397557337400[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002822148836657 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002822148836657[0m ×2 + 9.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002231050122398 + 9.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002231050122398[0m ×2 + 9.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002703229313951 + 9.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002703229313951[0m ×2 + 9.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003048991611710 + 9.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003048991611710[0m ×2 + 9.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003304592346318 + 9.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003304592346318[0m ×2 + 9.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002460317312122 + 9.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002460317312122[0m ×2 + 9.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002893631267446 + 9.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002893631267446[0m ×2 + 9.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003366547574336 + 9.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003366547574336[0m ×2 + 9.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003459111705469 + 9.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003459111705469[0m ×2 + 9.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003534085559611 + 9.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003534085559611[0m ×2 + 9.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797923409851 + 9.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797923409851[0m ×2 + 9.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003059636528315 + 9.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003059636528315[0m ×2 + 9.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003315906426406 + 9.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003315906426406[0m ×2 + 9.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002410198853641 + 9.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002410198853641[0m ×2 + 9.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003286084476656 + 9.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003286084476656[0m ×2 + 9.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002431927702767 + 9.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002431927702767[0m ×2 + 9.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003308524494505 + 9.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003308524494505[0m ×2 + 9.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003418607848328 + 9.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003418607848328[0m ×2 + 9.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003675407602198 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003675407602198[0m ×2 + 9.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002884982340306 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002884982340306[0m ×2 + 9.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003113302246425 + 9.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003113302246425[0m ×2 + 9.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003370335322749 + 9.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003370335322749[0m ×2 + 9.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003418864300876 + 9.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003418864300876[0m ×2 + 9.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003459563252814 + 9.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003459563252814[0m ×2 + 9.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002719637211486 + 9.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002719637211486[0m ×2 + 9.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002994069813784 + 9.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002994069813784[0m ×2 + 9.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003470050424166 + 9.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003470050424166[0m ×2 + 9.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002728496858321 + 9.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002728496858321[0m ×2 + 9.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003204229503052 + 9.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003204229503052[0m ×2 + 9.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001793349580798 + 9.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001793349580798[0m ×2 + 9.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002523948465515 + 9.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002523948465515[0m ×2 + 9.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003404158590008 + 9.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003404158590008[0m ×2 + 9.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003536252697925 + 9.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003536252697925[0m ×2 + 9.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003586441126460 + 9.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003586441126460[0m ×2 + 9.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004063056264492 + 9.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004063056264492[0m ×2 + 9.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003139844070934 + 9.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003139844070934[0m ×2 + 9.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003276123073776 + 9.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003276123073776[0m ×2 + 9.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003752846999661 + 9.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003752846999661[0m ×2 + 9.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002561764128562 + 9.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002561764128562[0m ×2 + 9.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003443530812926 + 9.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003443530812926[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003476722812130 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003476722812130[0m ×2 + 9.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003734864777055 + 9.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003734864777055[0m ×2 + 9.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003648737173714 + 9.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003648737173714[0m ×2 + 10.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003576342753723 + 10.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003576342753723[0m ×2 + 10.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001846903832330 + 10.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001846903832330[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002538487035092 + 10.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002538487035092[0m ×2 + 10.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003421728609349 + 10.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003421728609349[0m ×2 + 10.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003538495475478 + 10.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003538495475478[0m ×2 + 10.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003583166524251 + 10.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003583166524251[0m ×2 + 10.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060998038693 + 10.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060998038693[0m ×2 + 10.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002022931420416 + 10.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002022931420416[0m ×2 + 10.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002652986533780 + 10.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002652986533780[0m ×2 + 10.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003536783382320 + 10.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003536783382320[0m ×2 + 10.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003608817402701 + 10.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003608817402701[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003622671104818 + 10.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003622671104818[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004506277658145 + 10.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004506277658145[0m ×2 + 10.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004155747153030 + 10.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004155747153030[0m ×2 + 10.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893874149401 + 10.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893874149401[0m ×2 + 10.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969641202389 + 10.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969641202389[0m ×2 + 10.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003753605138604 + 10.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003753605138604[0m ×2 + 10.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003829591239620 + 10.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003829591239620[0m ×2 + 10.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003653578722335 + 10.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003653578722335[0m ×2 + 10.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003540812798292 + 10.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003540812798292[0m ×2 + 10.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003468555951605 + 10.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003468555951605[0m ×2 + 10.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003427526294382 + 10.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003427526294382[0m ×2 + 10.18sWARNcontroller_managerOverrun might occur, Total time : 1948.564 us (Expected < 1666.667 us) --> Read time : 1271.781 us, Update time : 118.496 us, Write time : 558.287 us + 10.18sWARNros2_control_nodeOverrun might occur, Total time : 1948.564 us (Expected < 1666.667 us) --> Read time : 1271.781 us, Update time : 118.496 us, Write time : 558.287 us[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003686108568965 + 10.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003686108568965[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003568076214864 + 10.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003568076214864[0m ×2 + 10.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003495125680079 + 10.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003495125680079[0m ×2 + 10.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003634967749475 + 10.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003634967749475[0m ×2 + 10.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003537473585862 + 10.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003537473585862[0m ×2 + 10.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003476604116227 + 10.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003476604116227[0m ×2 + 10.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003733983471634 + 10.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003733983471634[0m ×2 + 10.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003602124830510 + 10.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003602124830510[0m ×2 + 10.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003831538777634 + 10.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003831538777634[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003707761505448 + 10.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003707761505448[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966468067915 + 10.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966468067915[0m ×2 + 10.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003775525397101 + 10.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003775525397101[0m ×2 + 10.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004034592303686 + 10.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004034592303686[0m ×2 + 10.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003801445620810 + 10.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003801445620810[0m ×2 + 10.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003641777265813 + 10.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003641777265813[0m ×2 + 10.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003900337763507 + 10.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003900337763507[0m ×2 + 10.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003697996012277 + 10.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003697996012277[0m ×2 + 10.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003956697067631 + 10.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003956697067631[0m ×2 + 10.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003726920032001 + 10.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003726920032001[0m ×2 + 10.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003866810924773 + 10.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003866810924773[0m ×2 + 10.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003664205101941 + 10.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003664205101941[0m ×2 + 10.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003825469709831 + 10.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003825469709831[0m ×2 + 10.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004083865698342 + 10.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004083865698342[0m ×2 + 10.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003850769182775 + 10.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003850769182775[0m ×2 + 10.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004109094911575 + 10.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004109094911575[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003846158548091 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003846158548091[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004104418146949 + 10.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004104418146949[0m ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277958 ms (missed cycles : 4). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277958 ms (missed cycles : 4).[0m ×2 + 10.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003826623984257 + 10.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003826623984257[0m ×2 + 10.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003888313759827 + 10.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003888313759827[0m ×2 + 10.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003723666832959 + 10.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003723666832959[0m ×2 + 10.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003606401663676 + 10.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003606401663676[0m ×2 + 10.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003526163740862 + 10.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003526163740862[0m ×2 + 10.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004406794333212 + 10.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004406794333212[0m ×2 + 10.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004022478937710 + 10.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004022478937710[0m ×2 + 10.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003759149728262 + 10.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003759149728262[0m ×2 + 10.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004235318839656 + 10.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004235318839656[0m ×2 + 10.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003883722721082 + 10.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003883722721082[0m ×2 + 10.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003652540887835 + 10.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003652540887835[0m ×2 + 10.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004128350308942 + 10.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004128350308942[0m ×2 + 10.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003805190693477 + 10.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003805190693477[0m ×2 + 10.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004062561686988 + 10.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004062561686988[0m ×2 + 10.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003757665409826 + 10.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003757665409826[0m ×2 + 10.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004233048544046 + 10.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004233048544046[0m ×2 + 10.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003860620933289 + 10.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003860620933289[0m ×2 + 10.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117755709311 + 10.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117755709311[0m ×2 + 10.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003781454252736 + 10.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003781454252736[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003569269975394 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003569269975394[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004044048953834 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004044048953834[0m ×2 + 10.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003739932576738 + 10.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003739932576738[0m ×2 + 10.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004214450534740 + 10.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004214450534740[0m ×2 + 10.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003844237350099 + 10.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003844237350099[0m ×2 + 10.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004100893205828 + 10.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004100893205828[0m ×2 + 10.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003212607664329 + 10.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003212607664329[0m ×2 + 10.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004707735713798 + 10.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004707735713798[0m ×2 + 10.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005181295882486 + 10.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005181295882486[0m ×2 + 10.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004555344768689 + 10.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004555344768689[0m ×2 + 10.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004158862253954 + 10.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004158862253954[0m ×2 + 10.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003861985111494 + 10.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003861985111494[0m ×2 + 10.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005025166197302 + 10.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005025166197302[0m ×2 + 10.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004373798264027 + 10.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004373798264027[0m ×2 + 10.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003929874342151 + 10.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003929874342151[0m ×2 + 10.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004801425314211 + 10.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004801425314211[0m ×2 + 10.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184470698127 + 10.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184470698127[0m ×2 + 10.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004655707498906 + 10.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004655707498906[0m ×2 + 10.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004072765834098 + 10.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004072765834098[0m ×2 + 10.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004543655710103 + 10.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004543655710103[0m ×2 + 10.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990694974936 + 10.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990694974936[0m ×2 + 10.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003639749039377 + 10.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003639749039377[0m ×2 + 10.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004508764891043 + 10.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004508764891043[0m ×2 + 10.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003972544361182 + 10.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003972544361182[0m ×2 + 10.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004442398478479 + 10.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004442398478479[0m ×2 + 10.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003959483341766 + 10.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003959483341766[0m ×2 + 10.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856666554798 + 10.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856666554798[0m ×2 + 10.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005015323660761 + 10.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005015323660761[0m ×2 + 10.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005483559939951 + 10.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005483559939951[0m ×2 + 10.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004659812817856 + 10.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004659812817856[0m ×2 + 10.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005127647412427 + 10.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005127647412427[0m ×2 + 10.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004383610738692 + 10.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004383610738692[0m ×2 + 10.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003887245547594 + 10.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003887245547594[0m ×2 + 10.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004750415996534 + 10.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004750415996534[0m ×2 + 10.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110282738925 + 10.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110282738925[0m ×2 + 10.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004576907957346 + 10.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004576907957346[0m ×2 + 10.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003987688564307 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003987688564307[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004849153341529 + 10.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004849153341529[0m ×2 + 10.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150457730038 + 10.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150457730038[0m ×2 + 10.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003790519070535 + 10.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003790519070535[0m ×2 + 10.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004650007959747 + 10.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004650007959747[0m ×2 + 10.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004085366579942 + 10.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004085366579942[0m ×2 + 10.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005056906482456 + 10.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005056906482456[0m ×2 + 10.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005307992298821 + 10.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005307992298821[0m ×2 + 10.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004471054294569 + 10.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004471054294569[0m ×2 + 10.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004934612355498 + 10.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004934612355498[0m ×2 + 10.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004202512085609 + 10.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004202512085609[0m ×2 + 10.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005058235307518 + 10.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005058235307518[0m ×2 + 10.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004261262056141 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004261262056141[0m ×2 + 10.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791191413641 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791191413641[0m ×2 + 10.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004644746547403 + 10.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004644746547403[0m ×2 + 10.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005394271182118 + 10.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005394271182118[0m ×2 + 10.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004504335839960 + 10.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004504335839960[0m ×2 + 10.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005246927383118 + 10.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005246927383118[0m ×2 + 10.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004370983966559 + 10.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004370983966559[0m ×2 + 10.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004830550400498 + 10.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004830550400498[0m ×2 + 10.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004087064113267 + 10.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004087064113267[0m ×2 + 10.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004945213278185 + 10.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004945213278185[0m ×2 + 10.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005193262721003 + 10.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005193262721003[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004318576540583 + 10.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004318576540583[0m ×2 + 10.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005164686592993 + 10.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005164686592993[0m ×2 + 10.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280183601171 + 10.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280183601171[0m ×2 + 10.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005037861785144 + 10.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005037861785144[0m ×2 + 11.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004197506363029 + 11.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004197506363029[0m ×2 + 11.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005040364538336 + 11.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005040364538336[0m ×2 + 11.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003996750647940 + 11.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003996750647940[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004837853150200 + 11.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004837853150200[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005426231096708 + 11.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005426231096708[0m ×2 + 11.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004458367012705 + 11.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004458367012705[0m ×2 + 11.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005296861853384 + 11.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005296861853384[0m ×2 + 11.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004347345105936 + 11.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004347345105936[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005184621473200 + 11.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005184621473200[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004256610221290 + 11.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004256610221290[0m ×2 + 11.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004975526822149 + 11.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004975526822149[0m ×2 + 11.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005427197738724 + 11.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005427197738724[0m ×2 + 11.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408458486621 + 11.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408458486621[0m ×2 + 11.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005242009270565 + 11.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005242009270565[0m ×2 + 11.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004271138625402 + 11.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004271138625402[0m ×2 + 11.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003636799178962 + 11.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003636799178962[0m ×2 + 11.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004652744922472 + 11.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004652744922472[0m ×2 + 11.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005295274287211 + 11.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005295274287211[0m ×2 + 11.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006123169277221 + 11.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006123169277221[0m ×2 + 11.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004890353865891 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004890353865891[0m ×2 + 11.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005360997632792 + 11.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005360997632792[0m ×2 + 11.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005807481397217 + 11.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005807481397217[0m ×2 + 11.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004624969942307 + 11.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004624969942307[0m ×2 + 11.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005448843119737 + 11.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005448843119737[0m ×2 + 11.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005656408180387 + 11.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005656408180387[0m ×2 + 11.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004477375192765 + 11.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004477375192765[0m ×2 + 11.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010184809687 + 11.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010184809687[0m ×2 + 11.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005453600601754 + 11.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005453600601754[0m ×2 + 11.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005630537993843 + 11.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005630537993843[0m ×2 + 11.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005668484268990 + 11.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005668484268990[0m ×2 + 11.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004465613187395 + 11.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004465613187395[0m ×2 + 11.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004978740180902 + 11.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004978740180902[0m ×2 + 11.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002919220128687 + 11.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002919220128687[0m ×2 + 11.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004197731119783 + 11.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004197731119783[0m ×2 + 11.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005697723451053 + 11.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005697723451053[0m ×2 + 11.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005938311857182 + 11.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005938311857182[0m ×2 + 11.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006018871169530 + 11.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006018871169530[0m ×2 + 11.29sWARNcontroller_managerOverrun might occur, Total time : 9410.957 us (Expected < 1666.667 us) --> Read time : 217.570 us, Update time : 8762.117 us, Write time : 431.270 us + 11.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006826483969936 + 11.29sWARNros2_control_nodeOverrun might occur, Total time : 9410.957 us (Expected < 1666.667 us) --> Read time : 217.570 us, Update time : 8762.117 us, Write time : 431.270 us[0m ×2 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006826483969936[0m ×2 + 11.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004524419388408 + 11.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004524419388408[0m ×2 + 11.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005032008597839 + 11.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005032008597839[0m ×2 + 11.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005345255892083 + 11.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005345255892083[0m ×2 + 11.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005522221389755 + 11.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005522221389755[0m ×2 + 11.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006322428891007 + 11.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006322428891007[0m ×2 + 11.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006103496313240 + 11.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006103496313240[0m ×2 + 11.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005918947736642 + 11.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005918947736642[0m ×2 + 11.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006152135722848 + 11.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006152135722848[0m ×2 + 11.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005915661816056 + 11.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005915661816056[0m ×2 + 11.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005740217347193 + 11.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005740217347193[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005614452399552 + 11.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005614452399552[0m ×2 + 11.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005846027333990 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005846027333990[0m ×2 + 11.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005670296489783 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005670296489783[0m ×2 + 11.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005549386044841 + 11.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005549386044841[0m ×2 + 11.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005779870348713 + 11.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005779870348713[0m ×2 + 11.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005611365011635 + 11.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005611365011635[0m ×2 + 11.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005497672827518 + 11.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005497672827518[0m ×2 + 11.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005921538962827 + 11.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005921538962827[0m ×2 + 11.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005685536119101 + 11.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005685536119101[0m ×2 + 11.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005809344552551 + 11.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005809344552551[0m ×2 + 11.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005602005301346 + 11.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005602005301346[0m ×2 + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865615 ms (missed cycles : 3). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865615 ms (missed cycles : 3).[0m ×2 + 11.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005830229259653 + 11.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005830229259653[0m ×2 + 11.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002779214650326 + 11.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002779214650326[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006146650236490 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006146650236490[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006166093706270 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006166093706270[0m ×2 + 11.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006030452604502 + 11.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006030452604502[0m ×2 + 11.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007457408285529 + 11.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007457408285529[0m ×2 + 11.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006755420998883 + 11.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006755420998883[0m ×2 + 11.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006222479036226 + 11.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006222479036226[0m ×2 + 11.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006990021433496 + 11.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006990021433496[0m ×2 + 11.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006308354653034 + 11.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006308354653034[0m ×2 + 11.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006722427385515 + 11.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006722427385515[0m ×2 + 11.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006087469678892 + 11.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006087469678892[0m ×2 + 11.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006500349376844 + 11.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006500349376844[0m ×2 + 11.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006123159739791 + 11.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006123159739791[0m ×2 + 11.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005730792280030 + 11.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005730792280030[0m ×2 + 11.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006488042576014 + 11.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006488042576014[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005929269939217 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005929269939217[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006684106815984 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006684106815984[0m ×2 + 11.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006016020392108 + 11.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006016020392108[0m ×2 + 11.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006423196954731 + 11.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006423196954731[0m ×2 + 11.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004871566830278 + 11.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004871566830278[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007203085529565 + 11.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007203085529565[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006459940482896 + 11.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006459940482896[0m ×2 + 11.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005914727664371 + 11.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005914727664371[0m ×2 + 11.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007284574564545 + 11.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007284574564545[0m ×2 + 11.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006375312146806 + 11.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006375312146806[0m ×2 + 11.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007113746500751 + 11.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007113746500751[0m ×2 + 11.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006204323266317 + 11.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006204323266317[0m ×2 + 11.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005594518331530 + 11.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005594518331530[0m ×2 + 11.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006950676569669 + 11.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006950676569669[0m ×2 + 11.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006042137415047 + 11.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006042137415047[0m ×2 + 11.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006773152275153 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006773152275153[0m ×2 + 11.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005897736688386 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005897736688386[0m ×2 + 11.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005333695131373 + 11.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005333695131373[0m ×2 + 11.69sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.34sWARNcontroller_managerOverrun might occur, Total time : 6623.475 us (Expected < 1666.667 us) --> Read time : 135.387 us, Update time : 21.721 us, Write time : 6466.367 us + 12.34sWARNros2_control_nodeOverrun might occur, Total time : 6623.475 us (Expected < 1666.667 us) --> Read time : 135.387 us, Update time : 21.721 us, Write time : 6466.367 us[0m ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.588707 ms (missed cycles : 7). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.588707 ms (missed cycles : 7).[0m ×2 + 13.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000350582414354 + 13.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000350582414354[0m ×2 + 13.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000478389068944 + 13.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000478389068944[0m ×2 + 13.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000667682595053 + 13.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000667682595053[0m ×2 + 13.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000370596007674 + 13.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000370596007674[0m ×2 + 13.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000921139666744 + 13.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000921139666744[0m ×2 + 13.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000492741661690 + 13.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000492741661690[0m ×2 + 13.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000172916082323 + 13.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000172916082323[0m ×2 + 13.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036315478642 + 13.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036315478642[0m ×2 + 13.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000994020451491 + 13.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000994020451491[0m ×2 + 13.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001044874125196 + 13.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001044874125196[0m ×2 + 13.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001092646674459 + 13.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001092646674459[0m ×2 + 13.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000502544348455 + 13.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000502544348455[0m ×2 + 13.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001525614528698 + 13.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001525614528698[0m ×2 + 13.55sWARNcontroller_managerOverrun might occur, Total time : 2549.671 us (Expected < 1666.667 us) --> Read time : 75.743 us, Update time : 406.550 us, Write time : 2067.378 us + 13.55sWARNros2_control_nodeOverrun might occur, Total time : 2549.671 us (Expected < 1666.667 us) --> Read time : 75.743 us, Update time : 406.550 us, Write time : 2067.378 us[0m ×2 + 13.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000758665469064 + 13.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000758665469064[0m ×2 + 13.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000822447912579 + 13.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000822447912579[0m ×2 + 13.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001072092919134 + 13.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001072092919134[0m ×2 + 13.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001401890225518 + 13.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001401890225518[0m ×2 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656412 ms (missed cycles : 3). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656412 ms (missed cycles : 3).[0m ×2 + 13.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001370766306288 + 13.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001370766306288[0m ×2 + 13.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000764028305317 + 13.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000764028305317[0m ×2 + 13.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000944173001850 + 13.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000944173001850[0m ×2 + 13.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001389079504636 + 13.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001389079504636[0m ×2 + 13.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001845066660542 + 13.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001845066660542[0m ×2 + 13.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000869962603792 + 13.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000869962603792[0m ×2 + 13.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002224293464640 + 13.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002224293464640[0m ×2 + 13.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002986603982651 + 13.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002986603982651[0m ×2 + 13.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003481901265659 + 13.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003481901265659[0m ×2 + 13.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003567214563214 + 13.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003567214563214[0m ×2 + 13.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001816712111923 + 13.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001816712111923[0m ×2 + 13.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000746806208202 + 13.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000746806208202[0m ×2 + 13.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001397916689510 + 13.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001397916689510[0m ×2 + 13.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000427093698919 + 13.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000427093698919[0m ×2 + 13.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002054862557011 + 13.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002054862557011[0m ×2 + 13.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000875475506113 + 13.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000875475506113[0m ×2 + 13.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002764736417958 + 13.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002764736417958[0m ×2 + 13.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002617478032842 + 13.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002617478032842[0m ×2 + 13.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002595165385331 + 13.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002595165385331[0m ×2 + 13.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003643674618920 + 13.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003643674618920[0m ×2 + 13.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003756060360916 + 13.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003756060360916[0m ×2 + 13.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002461591624027 ×2 + 13.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002461591624027[0m ×4 + 13.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001010586044649 + 13.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001010586044649[0m ×2 + 13.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001010537609864 + 13.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001010537609864[0m ×2 + 13.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001799583347159 + 13.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001799583347159[0m ×2 + 13.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515769642327 + 13.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515769642327[0m ×2 + 13.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002055495664490 + 13.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002055495664490[0m ×2 + 13.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000840504783762 + 13.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000840504783762[0m ×2 + 13.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003175568006 + 13.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003175568006[0m ×2 + 13.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000335305013296 + 13.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000335305013296[0m ×2 + 13.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001839658131654 + 13.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001839658131654[0m ×2 + 13.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003831606770716 + 13.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003831606770716[0m ×2 + 13.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245236500145 + 13.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245236500145[0m ×2 + 13.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003923010597100 + 13.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003923010597100[0m ×2 + 13.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002002310491192 + 13.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002002310491192[0m ×2 + 13.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002002092103937 + 13.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002002092103937[0m ×2 + 13.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000770033671209 + 13.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000770033671209[0m ×2 + 13.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003922062180726 + 13.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003922062180726[0m ×2 + 13.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001937950587139 + 13.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001937950587139[0m ×2 + 13.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001943674545198 + 13.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001943674545198[0m ×2 + 13.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002099860463355 + 13.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002099860463355[0m ×2 + 13.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000815971851399 + 13.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000815971851399[0m ×2 + 13.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027895824083 + 13.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027895824083[0m ×2 + 13.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000350092847075 + 13.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000350092847075[0m ×2 + 13.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000350196505858 + 13.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000350196505858[0m ×2 + 13.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000139306960215 + 13.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000139306960215[0m ×2 + 13.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000139237362826 + 13.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000139237362826[0m ×2 + 13.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002183390427304 + 13.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002183390427304[0m ×2 + 13.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003216476179982 + 13.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003216476179982[0m ×2 + 13.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000671898734130 + 13.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000671898734130[0m ×2 + 13.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000475372801798 + 13.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000475372801798[0m ×2 + 13.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035096955960 + 13.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035096955960[0m ×2 + 13.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000116056254380 + 13.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000116056254380[0m ×2 + 13.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000162204270900 + 13.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000162204270900[0m ×2 + 13.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000288667903295 + 13.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000288667903295[0m ×2 + 14.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000357669622276 + 14.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000357669622276[0m ×2 + 14.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001955682631149 + 14.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001955682631149[0m ×2 + 14.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002188617056930 + 14.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002188617056930[0m ×2 + 14.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001160465767715 + 14.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001160465767715[0m ×2 + 14.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000946037438073 + 14.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000946037438073[0m ×2 + 14.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001232782504439 + 14.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001232782504439[0m ×2 + 14.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001739790920268 + 14.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001739790920268[0m ×2 + 14.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001764129768554 + 14.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001764129768554[0m ×2 + 14.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000879200025385 ×2 + 14.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000879200025385[0m ×4 + 14.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002258058992976 + 14.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002258058992976[0m ×2 + 14.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002152305876932 + 14.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002152305876932[0m ×2 + 14.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000993973396253 + 14.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000993973396253[0m ×2 + 14.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000993982368827 + 14.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000993982368827[0m ×2 + 14.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000365244982166 + 14.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000365244982166[0m ×2 + 14.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001525794197 + 14.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001525794197[0m ×2 + 14.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000127760231006 + 14.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000127760231006[0m ×2 + 14.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000256523624967 + 14.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000256523624967[0m ×2 + 14.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002308648400744 + 14.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002308648400744[0m ×2 + 14.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003875110849831 + 14.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003875110849831[0m ×2 + 14.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002400504462412 + 14.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002400504462412[0m ×2 + 14.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002579220686061 + 14.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002579220686061[0m ×2 + 14.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000274812083377 + 14.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000274812083377[0m ×2 + 14.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000474664458962 + 14.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000474664458962[0m ×2 + 14.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000474650281937 + 14.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000474650281937[0m ×2 + 14.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000136224377715 + 14.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000136224377715[0m ×2 + 14.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000136287359328 + 14.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000136287359328[0m ×2 + 14.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000124904316189 + 14.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000124904316189[0m ×2 + 14.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005064006133818 + 14.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005064006133818[0m ×2 + 14.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004673733666923 + 14.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004673733666923[0m ×2 + 14.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004673779986652 + 14.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004673779986652[0m ×2 + 14.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002453564481400 + 14.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002453564481400[0m ×2 + 14.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001091941736064 + 14.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001091941736064[0m ×2 + 14.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001091744588952 + 14.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001091744588952[0m ×2 + 14.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000494322555552 + 14.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000494322555552[0m ×2 + 14.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000682740251577 + 14.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000682740251577[0m ×2 + 14.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000259735523733 + 14.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000259735523733[0m ×2 + 14.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000385682706398 + 14.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000385682706398[0m ×2 + 14.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000455442998458 + 14.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000455442998458[0m ×2 + 14.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002754459312067 + 14.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002754459312067[0m ×2 + 14.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001854668445530 + 14.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001854668445530[0m ×2 + 14.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002237852425358 + 14.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002237852425358[0m ×2 + 14.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003231753754651 + 14.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003231753754651[0m ×2 + 14.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003706372825806 + 14.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003706372825806[0m ×2 + 14.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833734835649 + 14.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833734835649[0m ×2 + 14.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002023883402364 ×2 + 14.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002023883402364[0m ×4 + 14.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003147370445878 + 14.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003147370445878[0m ×2 + 14.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003118807719217 + 14.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003118807719217[0m ×2 + 14.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002854314321633 + 14.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002854314321633[0m ×2 + 14.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000423220569866 + 14.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000423220569866[0m ×2 + 14.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001813216298494 + 14.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001813216298494[0m ×2 + 14.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004167556886628 + 14.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004167556886628[0m ×2 + 14.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004085481223392 + 14.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004085481223392[0m ×2 + 14.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004799529666870 + 14.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004799529666870[0m ×2 + 14.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008232177230176 + 14.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008232177230176[0m ×2 + 14.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004536861328693 ×2 + 14.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004536861328693[0m ×4 + 14.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002062672804264 + 14.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002062672804264[0m ×2 + 14.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000636747535247 + 14.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000636747535247[0m ×2 + 14.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000909427624444 + 14.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000909427624444[0m ×2 + 14.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000909601519426 + 14.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000909601519426[0m ×2 + 14.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000153719514975 + 14.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000153719514975[0m ×2 + 14.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000153677118128 + 14.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000153677118128[0m ×2 + 14.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000254097759800 + 14.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000254097759800[0m ×2 + 14.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002238885970476 + 14.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002238885970476[0m ×2 + 14.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003310713555518 + 14.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003310713555518[0m ×2 + 14.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002120077998776 + 14.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002120077998776[0m ×2 + 14.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002294274673273 + 14.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002294274673273[0m ×2 + 14.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001043391446628 + 14.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001043391446628[0m ×2 + 14.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001047599225808 + 14.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001047599225808[0m ×2 + 14.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000293543081188 + 14.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000293543081188[0m ×2 + 14.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002138414113856 + 14.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002138414113856[0m ×2 + 14.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001951271909760 + 14.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001951271909760[0m ×2 + 14.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000880945530558 + 14.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000880945530558[0m ×2 + 14.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000256193952357 + 14.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000256193952357[0m ×2 + 14.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096350017455 + 14.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096350017455[0m ×2 + 14.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000268146147427 + 14.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000268146147427[0m ×2 + 14.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000268217754604 + 14.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000268217754604[0m ×2 + 14.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000292312982891 + 14.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000292312982891[0m ×2 + 14.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000581892552946 + 14.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000581892552946[0m ×2 + 14.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000912245753417 + 14.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000912245753417[0m ×2 + 14.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003432812719457 + 14.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003432812719457[0m ×2 + 14.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003541097544403 + 14.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003541097544403[0m ×2 + 14.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337856768575 + 14.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337856768575[0m ×2 + 14.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006150376280515 + 14.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006150376280515[0m ×2 + 14.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003485498470695 + 14.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003485498470695[0m ×2 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.765652 ms (missed cycles : 7). + 14.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001706675102157 + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.765652 ms (missed cycles : 7).[0m ×2 + 14.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001706675102157[0m ×2 + 14.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040550621900 + 14.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040550621900[0m ×2 + 14.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000368513314002 + 14.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000368513314002[0m ×2 + 14.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000368601879375 + 14.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000368601879375[0m ×2 + 14.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002644586542300 + 14.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002644586542300[0m ×2 + 14.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004101322994587 + 14.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004101322994587[0m ×2 + 14.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007681398639711 + 14.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007681398639711[0m ×2 + 14.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005376853081507 + 14.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005376853081507[0m ×2 + 14.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003782199022087 + 14.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003782199022087[0m ×2 + 14.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004472315760393 + 14.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004472315760393[0m ×2 + 14.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003022563705120 + 14.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003022563705120[0m ×2 + 14.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001201656165958 + 14.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001201656165958[0m ×2 + 14.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001194470189932 + 14.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001194470189932[0m ×2 + 14.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000336107314094 + 14.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000336107314094[0m ×2 + 14.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000290901073218 ×2 + 14.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000290901073218[0m ×4 + 14.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000610927535322 + 14.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000610927535322[0m ×2 + 14.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000640653199165 + 14.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000640653199165[0m ×2 + 14.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000686551869421 + 14.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000686551869421[0m ×2 + 14.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000446028222299 + 14.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000446028222299[0m ×2 + 14.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000329091105668 + 14.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000329091105668[0m ×2 + 14.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000382647909996 + 14.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000382647909996[0m ×2 + 14.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000300131740253 + 14.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000300131740253[0m ×2 + 14.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000310032649822 + 14.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000310032649822[0m ×2 + 14.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002354286848810 + 14.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002354286848810[0m ×2 + 14.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006888016106544 + 14.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006888016106544[0m ×2 + 14.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008449691069926 + 14.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008449691069926[0m ×2 + 14.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008409919083833 + 14.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008409919083833[0m ×2 + 14.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008224532116667 ×2 + 14.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008224532116667[0m ×4 + 14.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004710563289570 + 14.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004710563289570[0m ×2 + 14.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002183346040611 + 14.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002183346040611[0m ×2 + 14.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003425410191253 + 14.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003425410191253[0m ×2 + 14.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001384842154094 + 14.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001384842154094[0m ×2 + 14.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000177020931210 + 14.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000177020931210[0m ×2 + 14.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000149907827903 + 14.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000149907827903[0m ×2 + 14.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000553695960682 + 14.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000553695960682[0m ×2 + 14.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000697579333775 + 14.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000697579333775[0m ×2 + 14.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000830440141764 + 14.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000830440141764[0m ×2 + 14.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000772376827702 ×2 + 14.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000772376827702[0m ×4 + 14.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000656657694299 + 14.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000656657694299[0m ×2 + 14.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000484288938402 + 14.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000484288938402[0m ×2 + 14.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000502637878706 + 14.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000502637878706[0m ×2 + 14.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002062683353210 + 14.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002062683353210[0m ×2 + 14.99sWARNcontroller_managerOverrun might occur, Total time : 6307.239 us (Expected < 1666.667 us) --> Read time : 105.175 us, Update time : 48.972 us, Write time : 6153.092 us + 15.00sWARNros2_control_nodeOverrun might occur, Total time : 6307.239 us (Expected < 1666.667 us) --> Read time : 105.175 us, Update time : 48.972 us, Write time : 6153.092 us[0m ×2 + 15.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001805696681453 + 15.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001805696681453[0m ×2 + 15.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002865345893308 + 15.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002865345893308[0m ×2 + 15.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003494109704271 + 15.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003494109704271[0m ×2 + 15.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001908158686039 + 15.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001908158686039[0m ×2 + 15.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001907988539935 + 15.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001907988539935[0m ×2 + 15.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000955757562195 + 15.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000955757562195[0m ×2 + 15.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000955767653065 + 15.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000955767653065[0m ×2 + 15.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000512271047472 + 15.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000512271047472[0m ×2 + 15.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000125061194002 + 15.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000125061194002[0m ×2 + 15.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002571751132285 + 15.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002571751132285[0m ×2 + 15.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001371446480111 + 15.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001371446480111[0m ×2 + 15.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000597306792601 ×2 + 15.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000597306792601[0m ×4 + 15.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000169490363510 ×2 + 15.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000169490363510[0m ×4 + 15.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000269344873948 + 15.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000269344873948[0m ×2 + 15.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000269516688797 + 15.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000269516688797[0m ×2 + 15.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000290015854798 + 15.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000290015854798[0m ×2 + 15.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000427436342739 + 15.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000427436342739[0m ×2 + 15.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000438057333879 + 15.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000438057333879[0m ×2 + 15.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000160989882180 + 15.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000160989882180[0m ×2 + 15.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000214256962600 + 15.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000214256962600[0m ×2 + 15.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033420025144 ×2 + 15.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033420025144[0m ×4 + 15.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025573176519 + 15.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025573176519[0m ×2 + 15.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020955309999 + 15.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020955309999[0m ×2 + 15.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000066802728168 + 15.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000066802728168[0m ×2 + 15.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003870636939857 + 15.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003870636939857[0m ×2 + 15.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002348652402018 + 15.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002348652402018[0m ×2 + 15.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001298811771354 ×2 + 15.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001298811771354[0m ×4 + 15.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000424441063964 + 15.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000424441063964[0m ×2 + 15.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000424652126881 + 15.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000424652126881[0m ×2 + 15.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000077125907322 + 15.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000077125907322[0m ×2 + 15.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000497282866580 + 15.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000497282866580[0m ×2 + 15.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000340106863181 + 15.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000340106863181[0m ×2 + 15.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002130442895919 + 15.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002130442895919[0m ×2 + 15.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002408246025785 + 15.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002408246025785[0m ×2 + 15.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006992655020317 ×2 + 15.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006992655020317[0m ×4 + 15.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004051579943629 + 15.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004051579943629[0m ×2 + 15.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874785858171 + 15.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874785858171[0m ×2 + 15.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003862000929286 + 15.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003862000929286[0m ×2 + 15.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000918572147954 + 15.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000918572147954[0m ×2 + 15.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000455931857067 + 15.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000455931857067[0m ×2 + 15.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115951274992 + 15.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115951274992[0m ×2 + 15.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000380711427279 + 15.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000380711427279[0m ×2 + 15.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000464699845323 + 15.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000464699845323[0m ×2 + 15.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000434110969048 + 15.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000434110969048[0m ×2 + 15.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000379472630813 + 15.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000379472630813[0m ×2 + 15.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000283938453988 + 15.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000283938453988[0m ×2 + 15.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000192425436256 + 15.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000192425436256[0m ×2 + 15.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000192900068966 + 15.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000192900068966[0m ×2 + 15.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000121367784096 ×2 + 15.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000121367784096[0m ×4 + 15.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000139387551752 ×2 + 15.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000139387551752[0m ×4 + 15.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038730348999 + 15.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038730348999[0m ×2 + 15.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000102689551968 + 15.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000102689551968[0m ×2 + 15.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000102733339126 + 15.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000102733339126[0m ×2 + 15.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042963484022 + 15.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042963484022[0m ×2 + 15.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000111959445043 + 15.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000111959445043[0m ×2 + 15.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000100658161768 + 15.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000100658161768[0m ×2 + 15.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043177541849 + 15.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043177541849[0m ×2 + 15.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025855439944 + 15.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025855439944[0m ×2 + 15.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025103482555 + 15.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025103482555[0m ×2 + 15.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023510868651 ×2 + 15.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023510868651[0m ×4 + 15.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000188037124818 ×2 + 15.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000188037124818[0m ×4 + 15.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000655737747995 + 15.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000655737747995[0m ×2 + 15.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000655444100347 + 15.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000655444100347[0m ×2 + 15.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000395179038722 + 15.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000395179038722[0m ×2 + 15.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005304369037875 + 15.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005304369037875[0m ×2 + 15.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003162641576997 + 15.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003162641576997[0m ×2 + 15.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001755513236662 + 15.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001755513236662[0m ×2 + 15.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001755350138895 + 15.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001755350138895[0m ×2 + 15.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004653225625811 + 15.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004653225625811[0m ×2 + 15.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002562487562221 ×2 + 15.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002562487562221[0m ×4 + 15.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001355035454104 + 15.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001355035454104[0m ×2 + 15.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001465156073208 + 15.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001465156073208[0m ×2 + 15.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000464370445095 + 15.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000464370445095[0m ×2 + 15.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002225827329513 + 15.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002225827329513[0m ×2 + 15.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001302443237434 + 15.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001302443237434[0m ×2 + 15.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000466900222748 + 15.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000466900222748[0m ×2 + 15.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000638378034297 + 15.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000638378034297[0m ×2 + 15.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000610790842260 + 15.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000610790842260[0m ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.466921 ms (missed cycles : 4). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.466921 ms (missed cycles : 4).[0m ×2 + 15.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002805325955554 + 15.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002805325955554[0m ×2 + 15.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002929560579101 + 15.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002929560579101[0m ×2 + 15.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002779201366010 + 15.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002779201366010[0m ×2 + 15.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452394587218 + 15.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452394587218[0m ×2 + 15.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004007958930905 + 15.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004007958930905[0m ×2 + 15.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212037383415 + 15.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212037383415[0m ×2 + 15.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004887328181797 + 15.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004887328181797[0m ×2 + 15.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003734535541928 + 15.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003734535541928[0m ×2 + 15.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002960070471297 + 15.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002960070471297[0m ×2 + 15.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003469354491744 + 15.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003469354491744[0m ×2 + 15.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003672030967327 + 15.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003672030967327[0m ×2 + 15.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002990087744430 + 15.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002990087744430[0m ×2 + 15.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003340738111182 + 15.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003340738111182[0m ×2 + 15.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002760799876574 + 15.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002760799876574[0m ×2 + 15.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002411878258881 + 15.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002411878258881[0m ×2 + 15.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002765051549984 + 15.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002765051549984[0m ×2 + 15.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002404430852171 + 15.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002404430852171[0m ×2 + 15.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002751783133046 + 15.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002751783133046[0m ×2 + 15.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003370388017859 + 15.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003370388017859[0m ×2 + 15.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001828959557325 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001828959557325[0m ×2 + 15.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005696222931837 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005696222931837[0m ×2 + 15.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002970633976680 ×2 + 15.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002970633976680[0m ×4 + 15.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000259675146047 + 15.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000259675146047[0m ×2 + 15.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003959058402059 ×2 + 15.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003959058402059[0m ×4 + 15.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002123505804002 + 15.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002123505804002[0m ×2 + 15.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001440989415594 + 15.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001440989415594[0m ×2 + 15.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001256032997397 + 15.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001256032997397[0m ×2 + 15.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000396572629702 + 15.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000396572629702[0m ×2 + 15.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000169478928724 + 15.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000169478928724[0m ×2 + 15.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005352024843514 + 15.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005352024843514[0m ×2 + 15.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004581362478391 + 15.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004581362478391[0m ×2 + 15.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766106677411 + 15.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766106677411[0m ×2 + 15.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002552041774647 + 15.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002552041774647[0m ×2 + 15.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002784301419853 + 15.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002784301419853[0m ×2 + 15.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001156430791105 + 15.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001156430791105[0m ×2 + 15.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000241692552616 + 15.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000241692552616[0m ×2 + 15.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002236944667385 + 15.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002236944667385[0m ×2 + 15.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000222999256269 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000222999256269[0m ×2 + 15.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000420629753280 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000420629753280[0m ×2 + 15.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000489979417999 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000489979417999[0m ×2 + 15.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001166185475562 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001166185475562[0m ×2 + 16.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001392698579064 + 16.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001392698579064[0m ×2 + 16.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002176929478142 + 16.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002176929478142[0m ×2 + 16.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000820890560374 + 16.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000820890560374[0m ×2 + 16.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000820826967368 + 16.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000820826967368[0m ×2 + 16.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002315876403527 + 16.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002315876403527[0m ×2 + 16.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005210420220694 + 16.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005210420220694[0m ×2 + 16.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005474781995135 + 16.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005474781995135[0m ×2 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003130442030529 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003130442030529[0m ×2 + 16.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002086845299366 + 16.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002086845299366[0m ×2 + 16.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002694614772564 + 16.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002694614772564[0m ×2 + 16.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002400480031414 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002400480031414[0m ×2 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000634130961022 + 16.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000634130961022[0m ×2 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003508200219381 + 16.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003508200219381[0m ×2 + 16.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004070357849999 + 16.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004070357849999[0m ×2 + 16.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002089659359430 + 16.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002089659359430[0m ×2 + 16.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004735473872216 + 16.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004735473872216[0m ×2 + 16.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004883886183768 + 16.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004883886183768[0m ×2 + 16.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004870425113022 + 16.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004870425113022[0m ×2 + 16.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004934512326854 + 16.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004934512326854[0m ×2 + 16.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006522517203643 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006522517203643[0m ×2 + 16.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006346279383362 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006346279383362[0m ×2 + 16.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006708248756277 + 16.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006708248756277[0m ×2 + 16.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001363975909851 + 16.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001363975909851[0m ×2 + 16.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002617688317079 + 16.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002617688317079[0m ×2 + 16.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000876599292338 + 16.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000876599292338[0m ×2 + 16.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000874598575204 + 16.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000874598575204[0m ×2 + 16.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002719273037 + 16.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002719273037[0m ×2 + 16.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002524481917613 + 16.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002524481917613[0m ×2 + 16.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002861078372322 + 16.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002861078372322[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003602223762372 + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003602223762372[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002969523102446 + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002969523102446[0m ×2 + 16.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003545261728878 + 16.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003545261728878[0m ×2 + 16.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003724762661881 + 16.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003724762661881[0m ×2 + 16.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002898769797843 + 16.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002898769797843[0m ×2 + 16.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002385721630879 + 16.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002385721630879[0m ×2 + 16.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002959989754928 + 16.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002959989754928[0m ×2 + 16.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002428521895440 + 16.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002428521895440[0m ×2 + 16.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002106720166481 + 16.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002106720166481[0m ×2 + 16.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002682862759050 + 16.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002682862759050[0m ×2 + 16.33sWARNcontroller_managerOverrun might occur, Total time : 7101.917 us (Expected < 1666.667 us) --> Read time : 148.027 us, Update time : 48.922 us, Write time : 6904.968 us + 16.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002289801952215 + 16.33sWARNros2_control_nodeOverrun might occur, Total time : 7101.917 us (Expected < 1666.667 us) --> Read time : 148.027 us, Update time : 48.922 us, Write time : 6904.968 us[0m ×2 + 16.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002289801952215[0m ×2 + 16.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002310321286677 + 16.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002310321286677[0m ×2 + 16.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003079601860717 + 16.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003079601860717[0m ×2 + 16.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001686514067148 + 16.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001686514067148[0m ×2 + 16.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002212598038536 + 16.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002212598038536[0m ×2 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002015682283442 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002015682283442[0m ×2 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002566102239296 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002566102239296[0m ×2 + 16.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002268133821493 + 16.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002268133821493[0m ×2 + 16.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002095909054884 + 16.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002095909054884[0m ×2 + 16.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002661475086432 + 16.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002661475086432[0m ×2 + 16.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002346005532179 + 16.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002346005532179[0m ×2 + 16.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002913406380155 + 16.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002913406380155[0m ×2 + 16.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002491008569445 + 16.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002491008569445[0m ×2 + 16.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002798020561455 + 16.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002798020561455[0m ×2 + 16.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002409500681505 + 16.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002409500681505[0m ×2 + 16.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002170877913286 + 16.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002170877913286[0m ×2 + 16.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002741106496521 + 16.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002741106496521[0m ×2 + 16.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002372671192981 + 16.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002372671192981[0m ×2 + 16.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002940339137766 + 16.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002940339137766[0m ×2 + 16.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002483668835515 + 16.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002483668835515[0m ×2 + 16.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002202065925038 + 16.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002202065925038[0m ×2 + 16.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002770198407421 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002770198407421[0m ×2 + 16.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002377003665461 + 16.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002377003665461[0m ×2 + 16.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003056021331460 + 16.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003056021331460[0m ×2 + 16.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002524985525472 + 16.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002524985525472[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003134468630185 + 16.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003134468630185[0m ×2 + 16.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003294851998246 + 16.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003294851998246[0m ×2 + 16.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002697089085729 + 16.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002697089085729[0m ×2 + 16.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002006951386534 + 16.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002006951386534[0m ×2 + 16.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002911145342899 + 16.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002911145342899[0m ×2 + 16.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003409855954875 + 16.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003409855954875[0m ×2 + 16.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003952273966834 + 16.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003952273966834[0m ×2 + 16.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003120027716808 + 16.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003120027716808[0m ×2 + 16.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003413850626738 + 16.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003413850626738[0m ×2 + 16.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002746637833074 + 16.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002746637833074[0m ×2 + 16.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003292421157552 + 16.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003292421157552[0m ×2 + 16.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002651351185939 + 16.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002651351185939[0m ×2 + 16.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003131861389671 + 16.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003131861389671[0m ×2 + 16.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003145422296069 + 16.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003145422296069[0m ×2 + 16.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002548964041602 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002548964041602[0m ×2 + 16.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002843894411969 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002843894411969[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002366263775156 + 16.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002366263775156[0m ×2 + 16.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001913595303368 + 16.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001913595303368[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002830839357489 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002830839357489[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003344757448499 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003344757448499[0m ×2 + 16.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003876315202250 + 16.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003876315202250[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003075561260184 + 16.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003075561260184[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003610007335463 + 16.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003610007335463[0m ×2 + 16.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002865132799312 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002865132799312[0m ×2 + 16.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003254184280095 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003254184280095[0m ×2 + 16.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003338880145102 + 16.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003338880145102[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002661492959435 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002661492959435[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002950675013752 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002950675013752[0m ×2 + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.470943 ms (missed cycles : 6). + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.470943 ms (missed cycles : 6).[0m ×2 + 16.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002419346275167 + 16.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002419346275167[0m ×2 + 16.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002258574658932 + 16.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002258574658932[0m ×2 + 16.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797076827219 + 16.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797076827219[0m ×2 + 16.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003265902129894 + 16.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003265902129894[0m ×2 + 16.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003552877529679 + 16.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003552877529679[0m ×2 + 16.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002837952519020 + 16.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002837952519020[0m ×2 + 16.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003249899221512 + 16.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003249899221512[0m ×2 + 16.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003404868637206 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003404868637206[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002714199035670 + 16.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002714199035670[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003003728962795 + 16.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003003728962795[0m ×2 + 16.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002461772404326 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002461772404326[0m ×2 + 16.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002273188081121 + 16.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002273188081121[0m ×2 + 16.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002810348073670 + 16.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002810348073670[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003269660003063 + 16.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003269660003063[0m ×2 + 16.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003511377615642 + 16.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003511377615642[0m ×2 + 16.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003555925604316 + 16.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003555925604316[0m ×2 + 16.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002619236577043 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002619236577043[0m ×2 + 16.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003143652763536 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003143652763536[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003410999831155 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003410999831155[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002711593942477 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002711593942477[0m ×2 + 16.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003237684483390 + 16.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003237684483390[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002606657290180 + 16.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002606657290180[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002879764094533 + 16.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002879764094533[0m ×2 + 16.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002335028755160 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002335028755160[0m ×2 + 16.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002876279147103 + 16.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002876279147103[0m ×2 + 16.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002381019221741 + 16.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002381019221741[0m ×2 + 16.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002905825569195 + 16.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002905825569195[0m ×2 + 16.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002415242637756 + 16.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002415242637756[0m ×2 + 16.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003379105112068 + 16.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003379105112068[0m ×2 + 16.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002725987050436 + 16.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002725987050436[0m ×2 + 16.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003161807844938 + 16.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003161807844938[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003439993386209 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003439993386209[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002734354848208 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002734354848208[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003138137731306 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003138137731306[0m ×2 + 16.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003415119987814 + 16.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003415119987814[0m ×2 + 16.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002701274394348 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002701274394348[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003217781277686 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003217781277686[0m ×2 + 17.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002571198193109 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002571198193109[0m ×2 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001903544683703 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001903544683703[0m ×2 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002425970031494 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002425970031494[0m ×2 + 17.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003052287469147 + 17.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003052287469147[0m ×2 + 17.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003386232512098 + 17.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003386232512098[0m ×2 + 17.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004315202715224 + 17.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004315202715224[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003299447599345 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003299447599345[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003445982444733 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003445982444733[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003717284802460 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003717284802460[0m ×2 + 17.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866040453541 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866040453541[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003156828114362 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003156828114362[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003323604405192 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003323604405192[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002608574816099 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002608574816099[0m ×2 + 17.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003114764798606 + 17.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003114764798606[0m ×2 + 17.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003301589704969 + 17.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003301589704969[0m ×2 + 17.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003344252565312 + 17.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003344252565312[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002615458485777 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002615458485777[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001871747254026 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001871747254026[0m ×2 + 17.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002697330372377 + 17.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002697330372377[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003156892288989 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003156892288989[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004067265852860 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004067265852860[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003944165329782 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003944165329782[0m ×2 + 17.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003813932001309 + 17.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003813932001309[0m ×2 + 17.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002612439158866 + 17.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002612439158866[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002992871772094 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002992871772094[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003221603504542 + 17.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003221603504542[0m ×2 + 17.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003707393501926 + 17.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003707393501926[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003642454923249 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003642454923249[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003683922796469 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003683922796469[0m ×2 + 17.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002820505603439 + 17.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002820505603439[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003089415676876 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003089415676876[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003573899021584 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003573899021584[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002748164531212 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002748164531212[0m ×2 + 17.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003046080056297 + 17.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003046080056297[0m ×2 + 17.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003217143324396 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003217143324396[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003477055748334 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003477055748334[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003470049051334 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003470049051334[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003453533768729 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003453533768729[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003465516820363 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003465516820363[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002663184227360 + 17.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002663184227360[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002978622385339 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002978622385339[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003456482536144 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003456482536144[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003446887905055 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003446887905055[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003487532029350 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003487532029350[0m ×2 + 17.38sWARNcontroller_managerOverrun might occur, Total time : 7567.490 us (Expected < 1666.667 us) --> Read time : 158.438 us, Update time : 6859.116 us, Write time : 549.936 us + 17.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002679041889460 + 17.38sWARNros2_control_nodeOverrun might occur, Total time : 7567.490 us (Expected < 1666.667 us) --> Read time : 158.438 us, Update time : 6859.116 us, Write time : 549.936 us[0m ×2 + 17.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002679041889460[0m ×2 + 17.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002217811215114 + 17.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002217811215114[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002763076721294 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002763076721294[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003080434361225 + 17.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003080434361225[0m ×2 + 17.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003948344063883 + 17.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003948344063883[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003776907689243 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003776907689243[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913376742631 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913376742631[0m ×2 + 17.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003717641944854 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003717641944854[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003570238136407 + 17.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003570238136407[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003643760547989 + 17.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003643760547989[0m ×2 + 17.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003509822122569 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003509822122569[0m ×2 + 17.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003419302420028 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003419302420028[0m ×2 + 17.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003492547148883 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003492547148883[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003404848467056 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003404848467056[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003349150747824 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003349150747824[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003315384402967 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003315384402967[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003449855208083 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003449855208083[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003376323712325 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003376323712325[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003415579259520 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003415579259520[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003352776803675 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003352776803675[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003313003466041 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003313003466041[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003818409377037 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003818409377037[0m ×2 + 17.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003533745708566 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003533745708566[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003405284666100 + 17.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003405284666100[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003647904070197 + 17.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003647904070197[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003486435069156 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003486435069156[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003380843894873 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003380843894873[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003511942398865 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003511942398865[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003390738606772 + 17.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003390738606772[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003521436007782 + 17.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003521436007782[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003390288659842 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003390288659842[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003305915433402 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003305915433402[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003546213816965 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003546213816965[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003398210131452 + 17.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003398210131452[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003527842669331 + 17.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003527842669331[0m ×2 + 17.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003381696295140 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003381696295140[0m ×2 + 17.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003511013296204 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003511013296204[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003367077239628 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003367077239628[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003277102260260 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003277102260260[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003514854379018 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003514854379018[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003364702032633 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003364702032633[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003492863972622 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003492863972622[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003346825978263 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003346825978263[0m ×2 + 17.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003582988632104 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003582988632104[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003800153737917 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003800153737917[0m ×2 + 17.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003727882303959 + 17.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003727882303959[0m ×2 + 17.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003466976347467 + 17.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003466976347467[0m ×2 + 17.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003890878668038 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003890878668038[0m ×2 + 17.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405702 ms (missed cycles : 3). + 17.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405702 ms (missed cycles : 3).[0m ×2 + 17.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003351784683434 + 17.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003351784683434[0m ×2 + 17.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004424105406798 + 17.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004424105406798[0m ×2 + 17.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003921391148793 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003921391148793[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004148601351051 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004148601351051[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003728908544562 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003728908544562[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003956859916685 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003956859916685[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003589824348311 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003589824348311[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003352808608661 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003352808608661[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003773248281080 + 17.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003773248281080[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003462478891803 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003462478891803[0m ×2 + 17.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003584828044110 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003584828044110[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003332348979222 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003332348979222[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003558576671801 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003558576671801[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003316741233842 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003316741233842[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003172154566076 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003172154566076[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003537957466698 + 17.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003537957466698[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003288275902039 + 17.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003288275902039[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003144935967828 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003144935967828[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003071437147676 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003071437147676[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003824332256559 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003824332256559[0m ×2 + 17.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003487600024933 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003487600024933[0m ×2 + 17.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003894109098828 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003894109098828[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003517915142245 + 17.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003517915142245[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003923913326278 + 17.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003923913326278[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003520179784496 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003520179784496[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003263625726115 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003263625726115[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003668513559983 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003668513559983[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003349054817682 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003349054817682[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003752355031636 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003752355031636[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003622393542167 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003622393542167[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003299126537705 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003299126537705[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004031726088515 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004031726088515[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003575834147855 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003575834147855[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003977463412682 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003977463412682[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003546659179595 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003546659179595[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003281506490363 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003281506490363[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003685811747065 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003685811747065[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003364169123099 + 18.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003364169123099[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003767178206631 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003767178206631[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003642299774162 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003642299774162[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004030883190958 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004030883190958[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003549593922804 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003549593922804[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003253133668336 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003253133668336[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003983183894749 + 18.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003983183894749[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003653911228392 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003653911228392[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004039431622718 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004039431622718[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003545022330162 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003545022330162[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003236296919734 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003236296919734[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003957306318380 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003957306318380[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003488571369462 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003488571369462[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003192856357225 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003192856357225[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913663557520 + 18.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913663557520[0m ×2 + 18.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003449566651968 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003449566651968[0m ×2 + 18.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003158253776305 + 18.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003158253776305[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003875521995439 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003875521995439[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003415693628072 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003415693628072[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003128661272725 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003128661272725[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004115608672152 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004115608672152[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004319733873803 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004319733873803[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003667405144520 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003667405144520[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003250381896681 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003250381896681[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003952985709912 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003952985709912[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003425636539590 + 18.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003425636539590[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003803988370424 + 18.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003803988370424[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003327230921146 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003327230921146[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034129463132 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034129463132[0m ×2 + 18.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003733806878965 + 18.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003733806878965[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003288279924980 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003288279924980[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003239182874178 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003239182874178[0m ×2 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004109296881189 + 18.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004109296881189[0m ×2 + 18.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003539316150459 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003539316150459[0m ×2 + 18.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004222463966647 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004222463966647[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003583322647417 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003583322647417[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004246368410986 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004246368410986[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354374212854 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354374212854[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003637025433255 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003637025433255[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003174379514194 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003174379514194[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003854808973200 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003854808973200[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003313424585622 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003313424585622[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002985762903547 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002985762903547[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003664937595174 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003664937595174[0m ×2 + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003203427752385 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003203427752385[0m ×2 + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003994945363553 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003994945363553[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004193344200618 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004193344200618[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003411963883096 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003411963883096[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003154974775570 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003154974775570[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004002020216798 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004002020216798[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004676565635303 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004676565635303[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003889564523869 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003889564523869[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562198177875 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562198177875[0m ×2 + 18.41sWARNcontroller_managerOverrun might occur, Total time : 4384.558 us (Expected < 1666.667 us) --> Read time : 132.127 us, Update time : 3817.871 us, Write time : 434.560 us + 18.41sWARNros2_control_nodeOverrun might occur, Total time : 4384.558 us (Expected < 1666.667 us) --> Read time : 132.127 us, Update time : 3817.871 us, Write time : 434.560 us[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003774506589505 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003774506589505[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002542792875240 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002542792875240[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003214787546694 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003214787546694[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004052935800403 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004052935800403[0m ×2 + 18.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562307367673 + 18.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562307367673[0m ×2 + 18.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005231856456867 + 18.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005231856456867[0m ×2 + 18.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004215114427317 + 18.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004215114427317[0m ×2 + 18.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004568742979637 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004568742979637[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004764216428173 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004764216428173[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003846544958914 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003846544958914[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004513392410284 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004513392410284[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003660982688228 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003660982688228[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004155782389830 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004155782389830[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004474148653923 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004474148653923[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003626751680067 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003626751680067[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004289759597200 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004289759597200[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003498750005517 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003498750005517[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004160766045350 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004160766045350[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412941207099 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412941207099[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980475432053 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980475432053[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337625130411 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337625130411[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003542071226822 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003542071226822[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004201216422511 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004201216422511[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003445926688794 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003445926688794[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002958251766079 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002958251766079[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003767157934864 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003767157934864[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004979173196710 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004979173196710[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005037723749548 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005037723749548[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005068112729662 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005068112729662[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004019631841959 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004019631841959[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004348557127052 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004348557127052[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004701498879298 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004701498879298[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004769049065843 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004769049065843[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004771639583353 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004771639583353[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003770564834019 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003770564834019[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004144757355577 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004144757355577[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004495814855455 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004495814855455[0m ×2 + 18.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284039290536 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284039290536[0m ×2 + 18.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004480057605763 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004480057605763[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004632498588008 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004632498588008[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004705564220120 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004705564220120[0m ×2 + 18.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004894178550767 + 18.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004894178550767[0m ×2 + 18.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003837599890851 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003837599890851[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004480785261237 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004480785261237[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002459419054774 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002459419054774[0m ×2 + 18.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933354 ms (missed cycles : 5). + 18.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933354 ms (missed cycles : 5).[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003644859866028 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003644859866028[0m ×2 + 19.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875844 ms (missed cycles : 2). + 19.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875844 ms (missed cycles : 2).[0m ×2 + 19.85sWARNcontroller_managerOverrun might occur, Total time : 1692.021 us (Expected < 1666.667 us) --> Read time : 198.510 us, Update time : 1109.463 us, Write time : 384.048 us + 19.85sWARNros2_control_nodeOverrun might occur, Total time : 1692.021 us (Expected < 1666.667 us) --> Read time : 198.510 us, Update time : 1109.463 us, Write time : 384.048 us[0m ×2 + 20.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000435017224 + 20.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000435017224[0m ×2 + 20.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000273614733061 + 20.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000273614733061[0m ×2 + 20.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006691163871853 + 20.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006691163871853[0m ×2 + 20.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117736567744 + 20.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117736567744[0m ×2 + 20.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110802757983 + 20.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110802757983[0m ×2 + 20.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005743017685116 + 20.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005743017685116[0m ×2 + 20.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004178156358332 + 20.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004178156358332[0m ×2 + 20.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007821085570454 + 20.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007821085570454[0m ×2 + 20.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002102477034068 + 20.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002102477034068[0m ×2 + 20.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000605812196298 + 20.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000605812196298[0m ×2 + 20.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.038294651218363 + 20.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.038294651218363[0m ×2 + 20.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030998420602472 + 20.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030998420602472[0m ×2 + 20.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031089567302090 + 20.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031089567302090[0m ×2 + 20.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017070597609038 + 20.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017070597609038[0m ×2 + 20.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017085215781196 + 20.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017085215781196[0m ×2 + 20.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008040299622492 + 20.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008040299622492[0m ×2 + 20.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003083412294166 + 20.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003083412294166[0m ×2 + 20.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004143416043065 + 20.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004143416043065[0m ×2 + 20.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001050230045116 + 20.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001050230045116[0m ×2 + 20.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022337292601759 + 20.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022337292601759[0m ×2 + 20.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022934014675763 + 20.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022934014675763[0m ×2 + 20.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015193495782785 + 20.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015193495782785[0m ×2 + 20.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007488525406786 + 20.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007488525406786[0m ×2 + 20.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009003400872612 + 20.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009003400872612[0m ×2 + 20.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.035073064712195 ×2 + 20.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.035073064712195[0m ×4 + 20.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019957933741420 + 20.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019957933741420[0m ×2 + 20.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004072455698731 + 20.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004072455698731[0m ×2 + 20.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000348996089771 ×2 + 20.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000348996089771[0m ×4 + 20.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002080740414144 + 20.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002080740414144[0m ×2 + 20.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003156606291263 + 20.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003156606291263[0m ×2 + 20.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003156921524698 + 20.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003156921524698[0m ×2 + 20.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002614545152152 + 20.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002614545152152[0m ×2 + 20.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001908199807575 + 20.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001908199807575[0m ×2 + 20.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003049091796840 + 20.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003049091796840[0m ×2 + 20.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014834585301403 + 20.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014834585301403[0m ×2 + 20.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011752210633290 + 20.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011752210633290[0m ×2 + 20.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011845578976681 + 20.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011845578976681[0m ×2 + 20.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009101610120643 + 20.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009101610120643[0m ×2 + 20.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017528732500083 + 20.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017528732500083[0m ×2 + 20.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409779 ms (missed cycles : 3). + 20.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409779 ms (missed cycles : 3).[0m ×2 + 20.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021599682732432 + 20.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021599682732432[0m ×2 + 20.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011925231446031 + 20.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011925231446031[0m ×2 + 20.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012115079030789 + 20.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012115079030789[0m ×2 + 20.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005275031044455 + 20.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005275031044455[0m ×2 + 20.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005275019280750 + 20.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005275019280750[0m ×2 + 20.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005153647359975 + 20.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005153647359975[0m ×2 + 20.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001297126550119 + 20.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001297126550119[0m ×2 + 20.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004265275423366 + 20.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004265275423366[0m ×2 + 20.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001490033894275 + 20.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001490033894275[0m ×2 + 20.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001490045063856 + 20.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001490045063856[0m ×2 + 20.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001753586089109 + 20.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001753586089109[0m ×2 + 20.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000178833063740 + 20.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000178833063740[0m ×2 + 20.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001186019111000 + 20.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001186019111000[0m ×2 + 20.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001575902178547 + 20.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001575902178547[0m ×2 + 20.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001318785526053 + 20.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001318785526053[0m ×2 + 20.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002485706377323 + 20.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002485706377323[0m ×2 + 20.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002586300760087 + 20.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002586300760087[0m ×2 + 20.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002635234038543 + 20.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002635234038543[0m ×2 + 20.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001047556204892 + 20.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001047556204892[0m ×2 + 20.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001021721019499 + 20.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001021721019499[0m ×2 + 20.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002793582631114 + 20.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002793582631114[0m ×2 + 20.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003424164382542 + 20.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003424164382542[0m ×2 + 20.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001559704731071 + 20.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001559704731071[0m ×2 + 20.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061501134318 + 20.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061501134318[0m ×2 + 21.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004709504184768 + 21.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004709504184768[0m ×2 + 21.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000724143068418 + 21.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000724143068418[0m ×2 + 21.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002255529495846 + 21.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002255529495846[0m ×2 + 21.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004991477432511 + 21.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004991477432511[0m ×2 + 21.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006103502689628 + 21.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006103502689628[0m ×2 + 21.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005059048189519 + 21.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005059048189519[0m ×2 + 21.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006018376189241 + 21.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006018376189241[0m ×2 + 21.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001647443981255 + 21.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001647443981255[0m ×2 + 21.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000358685376492 + 21.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000358685376492[0m ×2 + 21.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002758070145233 + 21.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002758070145233[0m ×2 + 21.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001171501400291 ×2 + 21.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001171501400291[0m ×4 + 21.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003440556752366 + 21.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003440556752366[0m ×2 + 21.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003658612069649 + 21.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003658612069649[0m ×2 + 21.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004007413074344 + 21.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004007413074344[0m ×2 + 21.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003045129946862 + 21.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003045129946862[0m ×2 + 21.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003362787768887 + 21.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003362787768887[0m ×2 + 21.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001400306931156 + 21.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001400306931156[0m ×2 + 21.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001400298938450 + 21.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001400298938450[0m ×2 + 21.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000281124707240 + 21.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000281124707240[0m ×2 + 21.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000601079555021 + 21.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000601079555021[0m ×2 + 21.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000600955005136 + 21.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000600955005136[0m ×2 + 21.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001001923938001 + 21.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001001923938001[0m ×2 + 21.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001001767421258 + 21.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001001767421258[0m ×2 + 21.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000926101615561 ×2 + 21.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000926101615561[0m ×4 + 21.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000786101519028 ×2 + 21.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000786101519028[0m ×4 + 21.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000627352289422 + 21.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000627352289422[0m ×2 + 21.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000582664150186 + 21.21sWARNcontroller_managerOverrun might occur, Total time : 4179.109 us (Expected < 1666.667 us) --> Read time : 182.509 us, Update time : 3611.812 us, Write time : 384.788 us + 21.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000582664150186[0m ×2 + 21.21sWARNros2_control_nodeOverrun might occur, Total time : 4179.109 us (Expected < 1666.667 us) --> Read time : 182.509 us, Update time : 3611.812 us, Write time : 384.788 us[0m ×2 + 21.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000485784922193 + 21.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000485784922193[0m ×2 + 21.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001832130844925 + 21.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001832130844925[0m ×2 + 21.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001108624171811 + 21.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001108624171811[0m ×2 + 21.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001194193879137 + 21.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001194193879137[0m ×2 + 21.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000087670844022 + 21.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000087670844022[0m ×2 + 21.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000047434663169 + 21.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000047434663169[0m ×2 + 21.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043089630816 + 21.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043089630816[0m ×2 + 21.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043125378186 + 21.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043125378186[0m ×2 + 21.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000873620011786 + 21.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000873620011786[0m ×2 + 21.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002335305000793 + 21.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002335305000793[0m ×2 + 21.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002617104227255 + 21.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002617104227255[0m ×2 + 21.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001504803762380 ×2 + 21.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001504803762380[0m ×4 + 21.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000883874325746 + 21.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000883874325746[0m ×2 + 21.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002724595994610 + 21.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002724595994610[0m ×2 + 21.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001468914900929 + 21.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001468914900929[0m ×2 + 21.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002092722290202 + 21.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002092722290202[0m ×2 + 21.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002114206261264 + 21.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002114206261264[0m ×2 + 21.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000944712480287 + 21.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000944712480287[0m ×2 + 21.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000242379368250 + 21.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000242379368250[0m ×2 + 21.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000230410952568 ×2 + 21.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000230410952568[0m ×4 + 21.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000264194789341 + 21.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000264194789341[0m ×2 + 21.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000251964541619 + 21.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000251964541619[0m ×2 + 21.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000251785038269 + 21.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000251785038269[0m ×2 + 21.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000317258049810 ×2 + 21.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000317258049810[0m ×4 + 21.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000142476594760 + 21.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000142476594760[0m ×2 + 21.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012508366711 + 21.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012508366711[0m ×2 + 21.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000314269471720 + 21.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000314269471720[0m ×2 + 21.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000497892466174 + 21.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000497892466174[0m ×2 + 21.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000442494303156 + 21.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000442494303156[0m ×2 + 21.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002735169469480 + 21.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002735169469480[0m ×2 + 21.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003756255714335 + 21.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003756255714335[0m ×2 + 21.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004797232762121 + 21.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004797232762121[0m ×2 + 21.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004522478751812 + 21.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004522478751812[0m ×2 + 21.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005410437624877 + 21.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005410437624877[0m ×2 + 21.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005822123867079 + 21.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005822123867079[0m ×2 + 21.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005946887197298 + 21.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005946887197298[0m ×2 + 21.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005782704425723 + 21.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005782704425723[0m ×2 + 21.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004300159206002 + 21.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004300159206002[0m ×2 + 21.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698248907755 + 21.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698248907755[0m ×2 + 21.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003229403873098 + 21.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003229403873098[0m ×2 + 21.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002741543934214 + 21.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002741543934214[0m ×2 + 21.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003161354709560 + 21.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003161354709560[0m ×2 + 21.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002721744341309 + 21.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002721744341309[0m ×2 + 21.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002487964535303 + 21.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002487964535303[0m ×2 + 21.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002388648677876 + 21.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002388648677876[0m ×2 + 21.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002367219667839 + 21.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002367219667839[0m ×2 + 21.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003164615549694 + 21.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003164615549694[0m ×2 + 21.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002847444927336 + 21.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002847444927336[0m ×2 + 21.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003277104426123 + 21.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003277104426123[0m ×2 + 21.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002906891414593 + 21.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002906891414593[0m ×2 + 21.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002682657003176 + 21.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002682657003176[0m ×2 + 21.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002560305081239 + 21.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002560305081239[0m ×2 + 21.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003356277765117 + 21.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003356277765117[0m ×2 + 21.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002960984792691 + 21.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002960984792691[0m ×2 + 21.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002720007264212 + 21.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002720007264212[0m ×2 + 21.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002582956031227 + 21.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002582956031227[0m ×2 + 21.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003377024374460 + 21.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003377024374460[0m ×2 + 21.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002968134432618 + 21.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002968134432618[0m ×2 + 21.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002720008550889 + 21.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002720008550889[0m ×2 + 21.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003147640991431 + 21.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003147640991431[0m ×2 + 21.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002828033384156 + 21.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002828033384156[0m ×2 + 21.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003254566808943 + 21.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003254566808943[0m ×2 + 21.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002885935822536 + 21.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002885935822536[0m ×2 + 21.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002665990218729 + 21.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002665990218729[0m ×2 + 21.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003092509583219 + 21.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003092509583219[0m ×2 + 21.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002792086392948 + 21.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002792086392948[0m ×2 + 21.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003217520707669 + 21.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003217520707669[0m ×2 + 21.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866887367508 + 21.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866887367508[0m ×2 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003004512530400 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003004512530400[0m ×2 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797214839521 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797214839521[0m ×2 + 21.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003922806029831 + 21.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003922806029831[0m ×2 + 21.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003309432294810 + 21.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003309432294810[0m ×2 + 21.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003534238535991 + 21.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003534238535991[0m ×2 + 21.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003046432984797 + 21.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003046432984797[0m ×2 + 21.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002748312188695 + 21.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002748312188695[0m ×2 + 21.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003521925486177 + 21.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003521925486177[0m ×2 + 21.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003029948926466 + 21.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003029948926466[0m ×2 + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062190 ms (missed cycles : 2). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062190 ms (missed cycles : 2).[0m ×2 + 21.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003255844354300 + 21.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003255844354300[0m ×2 + 21.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003078157574180 + 21.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003078157574180[0m ×2 + 21.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003492217326915 + 21.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003492217326915[0m ×2 + 21.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003052383670589 + 21.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003052383670589[0m ×2 + 21.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003467291767140 + 21.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003467291767140[0m ×2 + 21.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003018682947985 + 21.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003018682947985[0m ×2 + 21.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002742563612554 + 21.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002742563612554[0m ×2 + 21.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002586610584170 + 21.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002586610584170[0m ×2 + 21.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002934610004204 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002934610004204[0m ×2 + 21.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004004247395636 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004004247395636[0m ×2 + 21.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003380900791905 + 21.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003380900791905[0m ×2 + 21.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004143958795209 + 21.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004143958795209[0m ×2 + 21.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003436024514532 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003436024514532[0m ×2 + 21.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003849826758108 + 21.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003849826758108[0m ×2 + 21.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002667893206382 + 21.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002667893206382[0m ×2 + 21.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003883617866197 + 21.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003883617866197[0m ×2 + 21.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003345762666766 + 21.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003345762666766[0m ×2 + 21.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004204290699131 + 21.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004204290699131[0m ×2 + 21.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004324013845880 + 21.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004324013845880[0m ×2 + 22.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003539116311046 + 22.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003539116311046[0m ×2 + 22.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003032007600694 + 22.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003032007600694[0m ×2 + 22.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003797177429973 + 22.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003797177429973[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003186750962212 + 22.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003186750962212[0m ×2 + 22.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002810709802098 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002810709802098[0m ×2 + 22.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003835186058902 + 22.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003835186058902[0m ×2 + 22.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003202466912998 + 22.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003202466912998[0m ×2 + 22.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003610529692583 + 22.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003610529692583[0m ×2 + 22.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003056856755949 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003056856755949[0m ×2 + 22.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002713653456358 + 22.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002713653456358[0m ×2 + 22.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003477115020389 + 22.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003477115020389[0m ×2 + 22.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002995052038939 + 22.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002995052038939[0m ×2 + 22.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003373269667682 + 22.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003373269667682[0m ×2 + 22.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004594249981290 + 22.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004594249981290[0m ×2 + 22.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003701902145733 + 22.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003701902145733[0m ×2 + 22.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003198221451019 + 22.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003198221451019[0m ×2 + 22.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004084398161755 + 22.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004084398161755[0m ×2 + 22.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004483740483945 + 22.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004483740483945[0m ×2 + 22.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003586757547024 + 22.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003586757547024[0m ×2 + 22.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003020937579970 + 22.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003020937579970[0m ×2 + 22.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003765070830608 + 22.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003765070830608[0m ×2 + 22.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003121803534993 + 22.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003121803534993[0m ×2 + 22.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003524289884668 + 22.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003524289884668[0m ×2 + 22.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976108315918 + 22.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976108315918[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003866828201124 + 22.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003866828201124[0m ×2 + 22.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003872035211079 + 22.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003872035211079[0m ×2 + 22.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003188973733151 + 22.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003188973733151[0m ×2 + 22.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002779253074175 + 22.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002779253074175[0m ×2 + 22.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003755281092390 + 22.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003755281092390[0m ×2 + 22.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003137493784647 + 22.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003137493784647[0m ×2 + 22.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003533931408699 + 22.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003533931408699[0m ×2 + 22.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002998221086588 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002998221086588[0m ×2 + 22.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003396543704782 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003396543704782[0m ×2 + 22.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002920580781888 + 22.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002920580781888[0m ×2 + 22.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002938320305602 + 22.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002938320305602[0m ×2 + 22.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003905887684198 + 22.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003905887684198[0m ×2 + 22.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003282881878804 + 22.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003282881878804[0m ×2 + 22.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004058051807939 + 22.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004058051807939[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003333226770427 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003333226770427[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004053927957685 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004053927957685[0m ×2 + 22.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003308387245930 + 22.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003308387245930[0m ×2 + 22.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002849621362139 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002849621362139[0m ×2 + 22.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003576023459972 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003576023459972[0m ×2 + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003017803436682 + 22.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003017803436682[0m ×2 + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003734385623691 + 22.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003734385623691[0m ×2 + 22.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003094436311425 + 22.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003094436311425[0m ×2 + 22.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002716938161041 + 22.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002716938161041[0m ×2 + 22.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003441549157384 + 22.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003441549157384[0m ×2 + 22.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002940613979371 + 22.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002940613979371[0m ×2 + 22.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003822715708372 + 22.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003822715708372[0m ×2 + 22.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004029937543598 + 22.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004029937543598[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003294511434075 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003294511434075[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003678742153316 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003678742153316[0m ×2 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003064575687042 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003064575687042[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003779738874429 + 22.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003779738874429[0m ×2 + 22.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003124346983971 + 22.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003124346983971[0m ×2 + 22.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002488716224334 + 22.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002488716224334[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003688111389199 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003688111389199[0m ×2 + 22.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379675545156 + 22.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379675545156[0m ×2 + 22.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002794753022820 + 22.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002794753022820[0m ×2 + 22.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002986229052759 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002986229052759[0m ×2 + 22.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003363414307511 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003363414307511[0m ×2 + 22.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004147198021578 + 22.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004147198021578[0m ×2 + 22.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835128455343 + 22.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835128455343[0m ×2 + 22.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003899199282515 + 22.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003899199282515[0m ×2 + 22.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004254841547458 + 22.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004254841547458[0m ×2 + 22.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004625314021770 + 22.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004625314021770[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003649145798910 + 22.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003649145798910[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004338456510541 + 22.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004338456510541[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003438983626202 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003438983626202[0m ×2 + 22.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004000177548608 + 22.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004000177548608[0m ×2 + 22.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004108527733963 + 22.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004108527733963[0m ×2 + 22.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002533017368937 + 22.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002533017368937[0m ×2 + 22.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003605313171422 + 22.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003605313171422[0m ×2 + 22.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004193324851239 + 22.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004193324851239[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004513479719845 + 22.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004513479719845[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004710792872244 + 22.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004710792872244[0m ×2 + 22.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003698050628306 + 22.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003698050628306[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150175291826 + 22.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150175291826[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004347302944994 + 22.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004347302944994[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003430774296372 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003430774296372[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004111106361572 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004111106361572[0m ×2 + 22.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003275370371502 + 22.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003275370371502[0m ×2 + 22.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874456945149 + 22.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874456945149[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071206699344 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071206699344[0m ×2 + 22.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003142710717473 + 22.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003142710717473[0m ×2 + 22.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003838198960277 + 22.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003838198960277[0m ×2 + 22.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004505490177999 + 22.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004505490177999[0m ×2 + 22.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003560067610194 + 22.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003560067610194[0m ×2 + 22.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004234537069255 + 22.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004234537069255[0m ×2 + 22.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365268793032 + 22.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365268793032[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963067708724 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963067708724[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004323519589976 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004323519589976[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003408411622545 + 22.74sWARNcontroller_managerOverrun might occur, Total time : 2283.259 us (Expected < 1666.667 us) --> Read time : 781.628 us, Update time : 69.073 us, Write time : 1432.558 us + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003408411622545[0m ×2 + 22.74sWARNros2_control_nodeOverrun might occur, Total time : 2283.259 us (Expected < 1666.667 us) --> Read time : 781.628 us, Update time : 69.073 us, Write time : 1432.558 us[0m ×2 + 22.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942328759650 + 22.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942328759650[0m ×2 + 22.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241803062194 + 22.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241803062194[0m ×2 + 22.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003337918558282 + 22.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003337918558282[0m ×2 + 22.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003884214236824 + 22.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003884214236824[0m ×2 + 22.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004076263217728 + 22.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004076263217728[0m ×2 + 22.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003237402351560 + 22.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003237402351560[0m ×2 + 22.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003822507818351 + 22.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003822507818351[0m ×2 + 22.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004159648010489 + 22.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004159648010489[0m ×2 + 22.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004262652372692 + 22.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004262652372692[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003350586150231 + 22.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003350586150231[0m ×2 + 22.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003875106176978 + 22.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003875106176978[0m ×2 + 22.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004226658031382 + 22.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004226658031382[0m ×2 + 22.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003328460984202 + 22.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003328460984202[0m ×2 + 22.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940929 ms (missed cycles : 2). + 22.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940929 ms (missed cycles : 2).[0m ×2 + 22.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003858973621149 + 22.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003858973621149[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004160414239423 + 22.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004160414239423[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004262207414012 + 22.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004262207414012[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003341013873648 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003341013873648[0m ×2 + 22.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003861233641447 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003861233641447[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004189249340905 + 22.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004189249340905[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340534738272 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340534738272[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004526394460295 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004526394460295[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482274905391 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482274905391[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129183328499 + 22.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129183328499[0m ×2 + 22.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004279487355535 + 22.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004279487355535[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003310733912949 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003310733912949[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003954210919622 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003954210919622[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004159560179519 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004159560179519[0m ×2 + 22.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004188844472607 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004188844472607[0m ×2 + 22.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003070626322584 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003070626322584[0m ×2 + 22.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002814918975404 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002814918975404[0m ×2 + 22.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003993471018231 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003993471018231[0m ×2 + 22.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283694211491 + 22.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283694211491[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004409135663099 + 22.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004409135663099[0m ×2 + 23.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005028004575404 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005028004575404[0m ×2 + 23.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003817397889411 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003817397889411[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004072831582470 + 23.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004072831582470[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004687020566959 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004687020566959[0m ×2 + 23.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003215838256777 + 23.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003215838256777[0m ×2 + 23.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004361051648420 + 23.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004361051648420[0m ×2 + 23.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004386758984249 + 23.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004386758984249[0m ×2 + 23.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377803353376 + 23.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377803353376[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004474399095924 + 23.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004474399095924[0m ×2 + 23.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003420418771926 + 23.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003420418771926[0m ×2 + 23.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004040045210277 + 23.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004040045210277[0m ×2 + 23.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002398146750164 + 23.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002398146750164[0m ×2 + 23.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003335202918629 + 23.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003335202918629[0m ×2 + 23.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003862365823131 + 23.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003862365823131[0m ×2 + 23.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005914651428942 + 23.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005914651428942[0m ×2 + 23.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005965838606873 + 23.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005965838606873[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004416269841801 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004416269841801[0m ×2 + 23.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002433510208667 + 23.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002433510208667[0m ×2 + 23.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003301478032223 + 23.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003301478032223[0m ×2 + 23.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004396503961677 + 23.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004396503961677[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006176032850831 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006176032850831[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005757812641625 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005757812641625[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006086541976518 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006086541976518[0m ×2 + 23.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005390560585817 + 23.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005390560585817[0m ×2 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004858906406307 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004858906406307[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004909387588667 + 23.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004909387588667[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004529817226061 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004529817226061[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004294651666584 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004294651666584[0m ×2 + 23.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004160297533099 + 23.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004160297533099[0m ×2 + 23.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004252248651435 + 23.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004252248651435[0m ×2 + 23.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004137894432065 + 23.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004137894432065[0m ×2 + 23.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004084151683857 + 23.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004084151683857[0m ×2 + 23.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004253805204794 + 23.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004253805204794[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004162752180335 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004162752180335[0m ×2 + 23.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110919664147 + 23.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110919664147[0m ×2 + 23.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004279398373027 + 23.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004279398373027[0m ×2 + 23.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004180073726809 + 23.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004180073726809[0m ×2 + 23.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004793917228483 + 23.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004793917228483[0m ×2 + 23.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385679001654 + 23.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385679001654[0m ×2 + 23.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239630272173 + 23.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239630272173[0m ×2 + 23.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004546205655956 + 23.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004546205655956[0m ×2 + 23.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004349005529436 + 23.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004349005529436[0m ×2 + 23.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004222370317301 + 23.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004222370317301[0m ×2 + 23.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004528846655008 + 23.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004528846655008[0m ×2 + 23.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003400886828334 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003400886828334[0m ×2 + 23.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003619187345921 + 23.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003619187345921[0m ×2 + 23.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004182856218836 + 23.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004182856218836[0m ×2 + 23.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117521779787 + 23.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117521779787[0m ×2 + 23.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004074048822939 + 23.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004074048822939[0m ×2 + 23.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004632871951218 + 23.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004632871951218[0m ×2 + 23.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004381108068560 + 23.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004381108068560[0m ×2 + 23.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004208471571947 + 23.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004208471571947[0m ×2 + 23.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004094121071874 + 23.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004094121071874[0m ×2 + 23.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004648406717213 + 23.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004648406717213[0m ×2 + 23.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354667002849 + 23.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354667002849[0m ×2 + 23.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004162976114898 + 23.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004162976114898[0m ×2 + 23.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004643571343982 + 23.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004643571343982[0m ×2 + 23.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004252736366884 + 23.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004252736366884[0m ×2 + 23.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004108873789232 + 23.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004108873789232[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004054291009943 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004054291009943[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005073328618739 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005073328618739[0m ×2 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004635473369435 + 23.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004635473369435[0m ×2 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004342228734538 + 23.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004342228734538[0m ×2 + 23.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004889319039630 + 23.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004889319039630[0m ×2 + 23.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004476036339679 + 23.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004476036339679[0m ×2 + 23.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004770753646982 + 23.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004770753646982[0m ×2 + 23.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385153025705 + 23.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385153025705[0m ×2 + 23.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004141685338558 + 23.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004141685338558[0m ×2 + 23.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004682466829725 + 23.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004682466829725[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313895539609 + 23.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313895539609[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004085077524590 + 23.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004085077524590[0m ×2 + 23.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004621410770669 + 23.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004621410770669[0m ×2 + 23.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004266999052917 + 23.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004266999052917[0m ×2 + 23.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004555990860951 + 23.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004555990860951[0m ×2 + 23.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004220662852877 + 23.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004220662852877[0m ×2 + 23.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004753353228031 + 23.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004753353228031[0m ×2 + 23.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004334672723231 + 23.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004334672723231[0m ×2 + 23.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071683156915 + 23.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071683156915[0m ×2 + 23.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004600126746872 + 23.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004600126746872[0m ×2 + 23.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004104280576246 + 23.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004104280576246[0m ×2 + 23.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005175429291429 + 23.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005175429291429[0m ×2 + 23.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005705480762449 + 23.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005705480762449[0m ×2 + 23.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005024259589520 + 23.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005024259589520[0m ×2 + 23.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004124357381396 + 23.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004124357381396[0m ×2 + 23.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005238356401405 + 23.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005238356401405[0m ×2 + 23.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004708668012228 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004708668012228[0m ×2 + 23.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005649414153991 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005649414153991[0m ×2 + 23.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004868913174463 + 23.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004868913174463[0m ×2 + 23.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004341539149059 + 23.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004341539149059[0m ×2 + 23.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005270769056321 + 23.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005270769056321[0m ×2 + 23.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562271888105 + 23.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562271888105[0m ×2 + 23.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110861068887 + 23.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110861068887[0m ×2 + 23.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005032867013524 + 23.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005032867013524[0m ×2 + 23.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004391431317740 + 23.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004391431317740[0m ×2 + 23.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004887420703236 + 23.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004887420703236[0m ×2 + 23.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004291941755913 + 23.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004291941755913[0m ×2 + 23.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004343319466365 + 23.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004343319466365[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004151886138905 + 23.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004151886138905[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004621700977093 + 23.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004621700977093[0m ×2 + 23.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005609162739600 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005609162739600[0m ×2 + 23.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004745166505461 + 23.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004745166505461[0m ×2 + 23.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005223828255716 + 23.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005223828255716[0m ×2 + 23.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004494398472488 + 23.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004494398472488[0m ×2 + 23.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004972832567732 + 23.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004972832567732[0m ×2 + 23.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004318685518046 + 23.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004318685518046[0m ×2 + 23.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003908449810994 + 23.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003908449810994[0m ×2 + 23.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004788541402445 + 23.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004788541402445[0m ×2 + 23.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004197329147249 + 23.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004197329147249[0m ×2 + 23.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829167 ms (missed cycles : 3). + 23.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829167 ms (missed cycles : 3).[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005075411481464 + 23.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005075411481464[0m ×2 + 23.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004520693535972 + 23.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004520693535972[0m ×2 + 23.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005264726583210 + 23.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005264726583210[0m ×2 + 23.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005400504355351 + 23.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005400504355351[0m ×2 + 23.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004575890556284 + 23.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004575890556284[0m ×2 + 23.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005041894885290 + 23.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005041894885290[0m ×2 + 23.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330278825955 + 23.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330278825955[0m ×2 + 23.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005311137904496 + 23.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005311137904496[0m ×2 + 23.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005317095320746 + 23.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005317095320746[0m ×2 + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004403100333440 + 23.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004403100333440[0m ×2 + 23.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004857794003386 + 23.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004857794003386[0m ×2 + 23.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326884787758 + 23.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326884787758[0m ×2 + 23.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005052474394808 + 23.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005052474394808[0m ×2 + 23.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005499610032877 + 23.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005499610032877[0m ×2 + 23.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004586176655042 + 23.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004586176655042[0m ×2 + 23.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005408299769568 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005408299769568[0m ×2 + 23.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004420088485924 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004420088485924[0m ×2 + 24.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005213607281919 + 24.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005213607281919[0m ×2 + 24.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005280360059578 + 24.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005280360059578[0m ×2 + 24.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330083360532 + 24.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330083360532[0m ×2 + 24.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005136193633298 + 24.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005136193633298[0m ×2 + 24.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005201994098082 + 24.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005201994098082[0m ×2 + 24.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004264529189026 + 24.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004264529189026[0m ×2 + 24.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005071486253109 + 24.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005071486253109[0m ×2 + 24.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004170920484806 + 24.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004170920484806[0m ×2 + 24.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992423774223 + 24.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992423774223[0m ×2 + 24.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129754497283 + 24.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129754497283[0m ×2 + 24.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004915701105732 + 24.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004915701105732[0m ×2 + 24.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004132895390998 + 24.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004132895390998[0m ×2 + 24.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004987716163754 + 24.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004987716163754[0m ×2 + 24.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005387173369902 + 24.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005387173369902[0m ×2 + 24.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004360223456556 + 24.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004360223456556[0m ×2 + 24.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005062332196381 + 24.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005062332196381[0m ×2 + 24.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005276867588999 + 24.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005276867588999[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004268607442421 + 24.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004268607442421[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005031767554785 + 24.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005031767554785[0m ×2 + 24.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004152784106033 + 24.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004152784106033[0m ×2 + 24.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004907505277947 + 24.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004907505277947[0m ×2 + 24.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005204352710052 + 24.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005204352710052[0m ×2 + 24.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004144923030266 + 24.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004144923030266[0m ×2 + 24.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005412437015341 + 24.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005412437015341[0m ×2 + 24.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004372958655231 + 24.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004372958655231[0m ×2 + 24.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004981707977327 + 24.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004981707977327[0m ×2 + 24.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005360414592770 + 24.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005360414592770[0m ×2 + 24.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004289419389465 + 24.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004289419389465[0m ×2 + 24.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004890253740530 + 24.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004890253740530[0m ×2 + 24.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005263853941796 + 24.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005263853941796[0m ×2 + 24.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005373976075907 + 24.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005373976075907[0m ×2 + 24.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267593189231 + 24.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267593189231[0m ×2 + 24.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004819648175070 + 24.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004819648175070[0m ×2 + 24.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005184537035528 + 24.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005184537035528[0m ×2 + 24.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005263215719472 + 24.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005263215719472[0m ×2 + 24.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005280433862862 + 24.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005280433862862[0m ×2 + 24.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004180193398791 + 24.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004180193398791[0m ×2 + 24.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004720595716573 + 24.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004720595716573[0m ×2 + 24.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004907987241581 + 24.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004907987241581[0m ×2 + 24.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003867093276136 + 24.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003867093276136[0m ×2 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004329911969231 + 24.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004329911969231[0m ×2 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004794702653621 + 24.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004794702653621[0m ×2 + 24.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005989755064937 + 24.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005989755064937[0m ×2 + 24.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004654318478592 + 24.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004654318478592[0m ×2 + 24.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003781646326229 + 24.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003781646326229[0m ×2 + 24.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004186955985592 + 24.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004186955985592[0m ×2 + 24.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004656591878042 + 24.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004656591878042[0m ×2 + 24.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005812568724083 + 24.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005812568724083[0m ×2 + 24.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005609145133435 + 24.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005609145133435[0m ×2 + 24.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005396519211369 + 24.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005396519211369[0m ×2 + 24.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005582030892493 + 24.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005582030892493[0m ×2 + 24.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005363776748482 + 24.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005363776748482[0m ×2 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005175535836733 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005175535836733[0m ×2 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005357416036979 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005357416036979[0m ×2 + 24.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005162992446503 + 24.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005162992446503[0m ×2 + 24.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005007310885117 + 24.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005007310885117[0m ×2 + 24.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004904537929146 + 24.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004904537929146[0m ×2 + 24.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004826579844554 + 24.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004826579844554[0m ×2 + 24.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005150501678755 + 24.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005150501678755[0m ×2 + 24.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004984306202630 + 24.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004984306202630[0m ×2 + 24.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004842165262207 + 24.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004842165262207[0m ×2 + 24.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005160878361363 + 24.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005160878361363[0m ×2 + 24.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004962999372328 + 24.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004962999372328[0m ×2 + 24.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005132902163408 + 24.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005132902163408[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004909886335666 + 24.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004909886335666[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005579640762104 + 24.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005579640762104[0m ×2 + 24.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004616096041602 + 24.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004616096041602[0m ×2 + 24.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004821169093868 + 24.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004821169093868[0m ×2 + 24.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005345833116659 + 24.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005345833116659[0m ×2 + 24.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004953137422469 + 24.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004953137422469[0m ×2 + 24.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005256747888867 + 24.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005256747888867[0m ×2 + 24.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004947477918862 + 24.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004947477918862[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004680484382892 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004680484382892[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005226872002939 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005226872002939[0m ×2 + 24.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004885182631372 + 24.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004885182631372[0m ×2 + 24.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005174355970203 + 24.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005174355970203[0m ×2 + 24.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004800929341258 + 24.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004800929341258[0m ×2 + 24.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005265279181984 + 24.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005265279181984[0m ×2 + 24.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005479179099992 + 24.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005479179099992[0m ×2 + 24.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004581123707132 + 24.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004581123707132[0m ×2 + 24.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005152525631551 + 24.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005152525631551[0m ×2 + 24.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004910608651356 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004910608651356[0m ×2 + 24.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005411340874951 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005411340874951[0m ×2 + 24.64sWARNcontroller_managerOverrun might occur, Total time : 3855.062 us (Expected < 1666.667 us) --> Read time : 92.094 us, Update time : 3438.582 us, Write time : 324.386 us + 24.64sWARNros2_control_nodeOverrun might occur, Total time : 3855.062 us (Expected < 1666.667 us) --> Read time : 92.094 us, Update time : 3438.582 us, Write time : 324.386 us[0m ×2 + 24.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004895597750612 + 24.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004895597750612[0m ×2 + 24.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004827688677707 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004827688677707[0m ×2 + 24.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010955465151 + 24.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010955465151[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003795281731886 + 24.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003795281731886[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169305357638 + 24.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169305357638[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006808558410566 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006808558410566[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007148838692284 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007148838692284[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005326232559563 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005326232559563[0m ×2 + 24.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004712432918120 + 24.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004712432918120[0m ×2 + 24.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005610929339029 + 24.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005610929339029[0m ×2 + 24.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004950084058648 + 24.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004950084058648[0m ×2 + 24.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004446706783247 + 24.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004446706783247[0m ×2 + 24.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005327324035763 + 24.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005327324035763[0m ×2 + 24.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004736718557922 + 24.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004736718557922[0m ×2 + 24.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005200098242327 + 24.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005200098242327[0m ×2 + 24.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004594206001426 + 24.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004594206001426[0m ×2 + 24.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004195571853110 + 24.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004195571853110[0m ×2 + 24.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005044603228938 + 24.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005044603228938[0m ×2 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004503380153018 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004503380153018[0m ×2 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005337526079207 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005337526079207[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004662121311611 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004662121311611[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005109588126433 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005109588126433[0m ×2 + 24.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004478281067615 + 24.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004478281067615[0m ×2 + 24.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005503825071761 + 24.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005503825071761[0m ×2 + 24.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004601179439196 + 24.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004601179439196[0m ×2 + 24.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005171457580059 + 24.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005171457580059[0m ×2 + 24.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004560179830469 + 24.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004560179830469[0m ×2 + 24.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005334372081998 + 24.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005334372081998[0m ×2 + 24.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.751426 ms (missed cycles : 7). + 24.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.751426 ms (missed cycles : 7).[0m ×2 + 24.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562698630505 + 24.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562698630505[0m ×2 + 24.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453977099574 + 24.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453977099574[0m ×2 + 24.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003593014976372 + 24.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003593014976372[0m ×2 + 24.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004386333730422 + 24.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004386333730422[0m ×2 + 24.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005379634182620 + 24.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005379634182620[0m ×2 + 24.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006033795529352 + 24.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006033795529352[0m ×2 + 24.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004872857029487 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004872857029487[0m ×2 + 24.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005476164430627 + 24.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005476164430627[0m ×2 + 24.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005835472500655 + 24.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005835472500655[0m ×2 + 24.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004655314327438 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004655314327438[0m ×2 + 24.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005381623004809 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005381623004809[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004469888912376 + 24.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004469888912376[0m ×2 + 24.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005148864630512 + 24.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005148864630512[0m ×2 + 24.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005502536106143 + 24.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005502536106143[0m ×2 + 24.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004399780999493 + 24.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004399780999493[0m ×2 + 24.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004120989457892 + 24.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004120989457892[0m ×2 + 25.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003305685262101 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003305685262101[0m ×2 + 25.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003994575222214 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003994575222214[0m ×2 + 25.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004789902059891 + 25.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004789902059891[0m ×2 + 25.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005015392037617 + 25.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005015392037617[0m ×2 + 25.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006222065458828 + 25.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006222065458828[0m ×2 + 25.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004923677801400 + 25.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004923677801400[0m ×2 + 25.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005584980333130 + 25.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005584980333130[0m ×2 + 25.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005594056773688 + 25.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005594056773688[0m ×2 + 25.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005381215090740 + 25.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005381215090740[0m ×2 + 25.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005480119243267 + 25.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005480119243267[0m ×2 + 25.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005351687891616 + 25.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005351687891616[0m ×2 + 25.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005380001610172 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005380001610172[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003926137390541 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003926137390541[0m ×2 + 25.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004175632449796 + 25.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004175632449796[0m ×2 + 25.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005284590547041 + 25.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005284590547041[0m ×2 + 25.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005167576305733 + 25.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005167576305733[0m ×2 + 25.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005014083221430 + 25.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005014083221430[0m ×2 + 25.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005328940331247 + 25.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005328940331247[0m ×2 + 25.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005088348563491 + 25.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005088348563491[0m ×2 + 25.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005257082548629 + 25.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005257082548629[0m ×2 + 25.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005002108433215 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005002108433215[0m ×2 + 25.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005169567667875 + 25.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005169567667875[0m ×2 + 25.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005560897632611 + 25.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005560897632611[0m ×2 + 25.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005017042491914 + 25.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005017042491914[0m ×2 + 25.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004647992230927 + 25.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004647992230927[0m ×2 + 25.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005200009407672 + 25.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005200009407672[0m ×2 + 25.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004757921413913 + 25.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004757921413913[0m ×2 + 25.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004501873521523 + 25.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004501873521523[0m ×2 + 25.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004348369278238 + 25.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004348369278238[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004247296002306 + 25.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004247296002306[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005257417369329 + 25.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005257417369329[0m ×2 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004795319172703 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004795319172703[0m ×2 + 25.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004484600609578 + 25.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004484600609578[0m ×2 + 25.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005488682045537 + 25.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005488682045537[0m ×2 + 25.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004914189499797 + 25.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004914189499797[0m ×2 + 25.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527947469985 + 25.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527947469985[0m ×2 + 25.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004278189912290 + 25.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004278189912290[0m ×2 + 25.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005680090878630 + 25.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005680090878630[0m ×2 + 25.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008622601469 + 25.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008622601469[0m ×2 + 25.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005542858760569 + 25.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005542858760569[0m ×2 + 25.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004886145950237 + 25.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004886145950237[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004445718910518 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004445718910518[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005427006506445 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005427006506445[0m ×2 + 25.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004778068265371 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004778068265371[0m ×2 + 25.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005883284105113 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005883284105113[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006037320281921 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006037320281921[0m ×2 + 25.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005134249686584 + 25.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005134249686584[0m ×2 + 25.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005658370943528 + 25.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005658370943528[0m ×2 + 25.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004854643283867 + 25.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004854643283867[0m ×2 + 25.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004397666980899 + 25.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004397666980899[0m ×2 + 25.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005605721616071 + 25.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005605721616071[0m ×2 + 25.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006342807874448 + 25.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006342807874448[0m ×2 + 25.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006749006203195 + 25.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006749006203195[0m ×2 + 25.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006898326567709 + 25.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006898326567709[0m ×2 + 25.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005552263139428 + 25.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005552263139428[0m ×2 + 25.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006116118166731 + 25.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006116118166731[0m ×2 + 25.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006620479832310 + 25.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006620479832310[0m ×2 + 25.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005294594565122 + 25.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005294594565122[0m ×2 + 25.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005873487255756 + 25.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005873487255756[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006220757288446 + 25.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006220757288446[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006715767765003 + 25.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006715767765003[0m ×2 + 25.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006711444195755 + 25.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006711444195755[0m ×2 + 25.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006646415103482 + 25.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006646415103482[0m ×2 + 25.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006688229735630 + 25.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006688229735630[0m ×2 + 25.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006579755389705 + 25.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006579755389705[0m ×2 + 25.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003304142421773 + 25.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003304142421773[0m ×2 + 25.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004577153248702 + 25.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004577153248702[0m ×2 + 25.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007928710189133 + 25.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007928710189133[0m ×2 + 25.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008066544139897 + 25.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008066544139897[0m ×2 + 25.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007498128110477 + 25.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007498128110477[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008360583684977 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008360583684977[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006103446060351 + 25.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006103446060351[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008565609922933 + 25.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008565609922933[0m ×2 + 25.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007558510848937 + 25.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007558510848937[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006799954987057 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006799954987057[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008318497901170 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008318497901170[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007176007037493 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007176007037493[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008716617831403 + 25.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008716617831403[0m ×2 + 25.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008784247057347 + 25.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008784247057347[0m ×2 + 25.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007302922131037 + 25.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007302922131037[0m ×2 + 25.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006293114617224 + 25.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006293114617224[0m ×2 + 25.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007907099095636 + 25.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007907099095636[0m ×2 + 25.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008845405873282 + 25.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008845405873282[0m ×2 + 25.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008880737423198 + 25.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008880737423198[0m ×2 + 25.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007136392487897 + 25.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007136392487897[0m ×2 + 25.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008151700308108 + 25.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008151700308108[0m ×2 + 25.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008893559129126 + 25.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008893559129126[0m ×2 + 25.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007017044115999 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007017044115999[0m ×2 + 25.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008369554179495 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008369554179495[0m ×2 + 25.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008703130026975 + 25.70sWARNcontroller_managerOverrun might occur, Total time : 2268.918 us (Expected < 1666.667 us) --> Read time : 147.817 us, Update time : 1808.957 us, Write time : 312.144 us + 25.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008703130026975[0m ×2 + 25.70sWARNros2_control_nodeOverrun might occur, Total time : 2268.918 us (Expected < 1666.667 us) --> Read time : 147.817 us, Update time : 1808.957 us, Write time : 312.144 us[0m ×2 + 25.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008808662607429 + 25.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008808662607429[0m ×2 + 25.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005972291767782 + 25.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005972291767782[0m ×2 + 25.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007017506470942 + 25.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007017506470942[0m ×2 + 25.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009339979317524 + 25.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009339979317524[0m ×2 + 25.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009017714879644 + 25.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009017714879644[0m ×2 + 25.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008665011136805 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008665011136805[0m ×2 + 25.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010890786557451 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010890786557451[0m ×2 + 25.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009652004795748 + 25.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009652004795748[0m ×2 + 25.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008713692971433 + 25.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008713692971433[0m ×2 + 25.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010850919333673 + 25.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010850919333673[0m ×2 + 25.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009294015665214 + 25.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009294015665214[0m ×2 + 25.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010416008023135 + 25.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010416008023135[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005495371018873 + 25.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005495371018873[0m ×2 + 25.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005838249643926 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005838249643926[0m ×2 + 25.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210226 ms (missed cycles : 4). + 25.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210226 ms (missed cycles : 4).[0m ×2 + 26.71sWARNcontroller_managerOverrun might occur, Total time : 10884.649 us (Expected < 1666.667 us) --> Read time : 157.457 us, Update time : 487.793 us, Write time : 10239.399 us + 26.71sWARNros2_control_nodeOverrun might occur, Total time : 10884.649 us (Expected < 1666.667 us) --> Read time : 157.457 us, Update time : 487.793 us, Write time : 10239.399 us[0m ×2 + 27.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002298 ms (missed cycles : 5). + 27.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002298 ms (missed cycles : 5).[0m ×2 + 27.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007100404757890 + 27.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007100404757890[0m ×2 + 27.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004287473713227 + 27.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004287473713227[0m ×2 + 27.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002350539103211 ×2 + 27.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002350539103211[0m ×4 + 27.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001282751821301 + 27.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001282751821301[0m ×2 + 27.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001398019018515 + 27.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001398019018515[0m ×2 + 27.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012873711599310 + 27.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012873711599310[0m ×2 + 27.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013059687372980 + 27.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013059687372980[0m ×2 + 27.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007553407084151 + 27.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007553407084151[0m ×2 + 27.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003854609486488 ×2 + 27.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003854609486488[0m ×4 + 27.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000244878186868 + 27.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000244878186868[0m ×2 + 27.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000539075545918 ×2 + 27.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000539075545918[0m ×4 + 27.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000886870474342 + 27.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000886870474342[0m ×2 + 27.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000969746597733 + 27.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000969746597733[0m ×2 + 27.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020259443677209 + 27.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020259443677209[0m ×2 + 27.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031064912555021 + 27.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031064912555021[0m ×2 + 27.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031186873687504 + 27.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031186873687504[0m ×2 + 27.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017959238536218 ×2 + 27.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017959238536218[0m ×4 + 27.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009095397684052 + 27.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009095397684052[0m ×2 + 27.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003483162937223 + 27.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003483162937223[0m ×2 + 27.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000183077755084 + 27.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000183077755084[0m ×2 + 27.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001409454396826 + 27.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001409454396826[0m ×2 + 27.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002108561752805 ×2 + 27.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002108561752805[0m ×4 + 27.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002302510316284 ×2 + 27.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002302510316284[0m ×4 + 27.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028497379899122 + 27.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028497379899122[0m ×2 + 27.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016915982842640 + 27.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016915982842640[0m ×2 + 27.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031177122487378 + 27.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031177122487378[0m ×2 + 27.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017429898513635 ×2 + 27.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017429898513635[0m ×4 + 27.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008441194205566 + 27.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008441194205566[0m ×2 + 27.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002769058414257 ×2 + 27.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002769058414257[0m ×4 + 27.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000482895283181 + 27.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000482895283181[0m ×2 + 27.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000482676276320 + 27.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000482676276320[0m ×2 + 27.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000880255441325 + 27.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000880255441325[0m ×2 + 27.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056194645628 + 27.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056194645628[0m ×2 + 27.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000637838993505 + 27.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000637838993505[0m ×2 + 27.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011484853491304 + 27.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011484853491304[0m ×2 + 27.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006814645812554 + 27.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006814645812554[0m ×2 + 27.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027571971766482 + 27.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027571971766482[0m ×2 + 27.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015869598327645 + 27.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015869598327645[0m ×2 + 27.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008074569320529 ×2 + 27.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008074569320529[0m ×4 + 27.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003157544720362 ×2 + 27.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003157544720362[0m ×4 + 27.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001379973329288 ×2 + 27.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001379973329288[0m ×4 + 27.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001625700269131 + 27.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001625700269131[0m ×2 + 27.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001478974353890 + 27.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001478974353890[0m ×2 + 27.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001051442145815 ×2 + 27.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001051442145815[0m ×4 + 27.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030695869683559 + 27.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030695869683559[0m ×2 + 27.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018268760413596 + 27.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018268760413596[0m ×2 + 27.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013916220340311 + 27.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013916220340311[0m ×2 + 27.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006800225232167 ×2 + 27.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006800225232167[0m ×4 + 27.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002446499227339 + 27.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002446499227339[0m ×2 + 27.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009843321161244 + 27.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009843321161244[0m ×2 + 27.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000884217137473 + 27.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000884217137473[0m ×2 + 27.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001444149862958 + 27.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001444149862958[0m ×2 + 27.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001444482260806 + 27.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001444482260806[0m ×2 + 27.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001960390729216 + 27.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001960390729216[0m ×2 + 27.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001890419241939 ×2 + 27.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001890419241939[0m ×4 + 27.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001408856603243 + 27.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001408856603243[0m ×2 + 27.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001182723614938 ×2 + 27.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001182723614938[0m ×4 + 28.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000883682174234 + 28.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000883682174234[0m ×2 + 28.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000318845425459 + 28.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000318845425459[0m ×2 + 28.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000751133097016 ×2 + 28.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000751133097016[0m ×4 + 28.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000768520138548 + 28.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000768520138548[0m ×2 + 28.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000385106336330 ×2 + 28.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000385106336330[0m ×4 + 28.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000147297126537 + 28.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000147297126537[0m ×2 + 28.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008620135716 ×2 + 28.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008620135716[0m ×4 + 28.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088148515027 ×2 + 28.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088148515027[0m ×4 + 28.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552446 ms (missed cycles : 2). + 28.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552446 ms (missed cycles : 2).[0m ×2 + 28.08sWARNcontroller_managerOverrun might occur, Total time : 2305.470 us (Expected < 1666.667 us) --> Read time : 115.756 us, Update time : 77.303 us, Write time : 2112.411 us + 28.08sWARNros2_control_nodeOverrun might occur, Total time : 2305.470 us (Expected < 1666.667 us) --> Read time : 115.756 us, Update time : 77.303 us, Write time : 2112.411 us[0m ×2 + 28.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011775137375 + 28.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011775137375[0m ×2 + 28.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011067765383 + 28.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011067765383[0m ×2 + 28.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009835914321 + 28.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009835914321[0m ×2 + 28.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019896934167 ×2 + 28.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019896934167[0m ×4 + 28.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059638981977 ×2 + 28.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059638981977[0m ×4 + 28.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038077529360 + 28.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038077529360[0m ×2 + 28.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000116733578299 + 28.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000116733578299[0m ×2 + 28.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001545147690963 + 28.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001545147690963[0m ×2 + 28.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000935299588696 + 28.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000935299588696[0m ×2 + 28.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000935525700294 + 28.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000935525700294[0m ×2 + 28.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000443323266327 ×2 + 28.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000443323266327[0m ×4 + 28.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006235586443821 + 28.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006235586443821[0m ×2 + 28.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003691998509395 ×2 + 28.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003691998509395[0m ×4 + 28.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001970021747711 ×2 + 28.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001970021747711[0m ×4 + 28.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000290853336857 + 28.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000290853336857[0m ×2 + 28.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000334994337638 + 28.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000334994337638[0m ×2 + 28.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967690227617 + 28.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967690227617[0m ×2 + 28.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036171911916160 + 28.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036171911916160[0m ×2 + 28.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036443483947792 + 28.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036443483947792[0m ×2 + 28.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029400702487908 + 28.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029400702487908[0m ×2 + 28.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036742656181445 + 28.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036742656181445[0m ×2 + 28.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022633595603971 + 28.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022633595603971[0m ×2 + 28.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026212893667269 + 28.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026212893667269[0m ×2 + 28.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019677211205244 + 28.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019677211205244[0m ×2 + 28.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014859458437192 + 28.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014859458437192[0m ×2 + 28.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015746168314878 + 28.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015746168314878[0m ×2 + 28.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016416156046022 + 28.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016416156046022[0m ×2 + 28.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016831420708010 + 28.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016831420708010[0m ×2 + 28.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015958074331336 + 28.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015958074331336[0m ×2 + 28.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020865122188240 + 28.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020865122188240[0m ×2 + 28.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024474048427092 + 28.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024474048427092[0m ×2 + 28.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023079821518029 + 28.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023079821518029[0m ×2 + 28.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023925388611921 + 28.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023925388611921[0m ×2 + 28.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016354190497595 + 28.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016354190497595[0m ×2 + 28.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016581716760900 + 28.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016581716760900[0m ×2 + 28.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014935290917782 + 28.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014935290917782[0m ×2 + 28.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012696035828095 + 28.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012696035828095[0m ×2 + 28.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015232604569990 + 28.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015232604569990[0m ×2 + 28.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014889715235355 + 28.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014889715235355[0m ×2 + 28.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014710126340098 + 28.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014710126340098[0m ×2 + 28.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014710134287133 + 28.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014710134287133[0m ×2 + 28.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002612473567553 + 28.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002612473567553[0m ×2 + 28.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000944094717927 + 28.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000944094717927[0m ×2 + 28.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001622375216955 + 28.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001622375216955[0m ×2 + 28.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001769260504376 + 28.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001769260504376[0m ×2 + 28.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797983410994 + 28.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797983410994[0m ×2 + 28.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002340809247708 + 28.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002340809247708[0m ×2 + 28.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001827262387089 + 28.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001827262387089[0m ×2 + 28.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001827217404941 + 28.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001827217404941[0m ×2 + 28.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001630638626135 + 28.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001630638626135[0m ×2 + 28.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001892166428888 + 28.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001892166428888[0m ×2 + 28.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001646173919770 + 28.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001646173919770[0m ×2 + 28.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000225156678835 + 28.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000225156678835[0m ×2 + 28.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001624731386387 + 28.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001624731386387[0m ×2 + 28.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000885114498687 + 28.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000885114498687[0m ×2 + 28.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001784516245562 + 28.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001784516245562[0m ×2 + 28.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002186490405024 + 28.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002186490405024[0m ×2 + 28.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001458218559195 + 28.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001458218559195[0m ×2 + 28.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001593043155590 + 28.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001593043155590[0m ×2 + 28.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002360054062812 + 28.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002360054062812[0m ×2 + 28.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002487367513834 + 28.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002487367513834[0m ×2 + 28.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002498047441467 + 28.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002498047441467[0m ×2 + 28.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001257552310785 + 28.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001257552310785[0m ×2 + 28.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001676149525349 + 28.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001676149525349[0m ×2 + 28.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002102497460064 + 28.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002102497460064[0m ×2 + 28.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002305270682261 + 28.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002305270682261[0m ×2 + 28.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002547338043111 + 28.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002547338043111[0m ×2 + 28.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001065962460127 + 28.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001065962460127[0m ×2 + 28.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003315043521944 + 28.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003315043521944[0m ×2 + 28.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001727923487231 + 28.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001727923487231[0m ×2 + 28.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001853348540036 + 28.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001853348540036[0m ×2 + 28.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001804758769700 + 28.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001804758769700[0m ×2 + 28.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000604682522137 + 28.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000604682522137[0m ×2 + 28.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000604698337317 + 28.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000604698337317[0m ×2 + 28.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003038992284069 + 28.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003038992284069[0m ×2 + 28.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001604360971754 + 28.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001604360971754[0m ×2 + 28.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003337269561589 + 28.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003337269561589[0m ×2 + 28.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003238987739762 + 28.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003238987739762[0m ×2 + 28.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002439274696539 + 28.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002439274696539[0m ×2 + 28.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002448820808870 + 28.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002448820808870[0m ×2 + 28.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002478780825016 + 28.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002478780825016[0m ×2 + 28.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002430439166934 + 28.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002430439166934[0m ×2 + 28.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002869373129303 + 28.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002869373129303[0m ×2 + 28.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002100174407336 + 28.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002100174407336[0m ×2 + 28.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002177990290492 + 28.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002177990290492[0m ×2 + 28.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002313773464882 + 28.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002313773464882[0m ×2 + 28.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002404255889325 + 28.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002404255889325[0m ×2 + 28.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002861780057924 + 28.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002861780057924[0m ×2 + 28.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797491279478 + 28.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797491279478[0m ×2 + 28.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002698668215529 + 28.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002698668215529[0m ×2 + 28.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004128074979820 + 28.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004128074979820[0m ×2 + 28.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001934633907163 + 28.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001934633907163[0m ×2 + 28.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002715262129425 + 28.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002715262129425[0m ×2 + 28.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001075236029639 + 28.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001075236029639[0m ×2 + 28.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000083755760819 + 28.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000083755760819[0m ×2 + 28.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003730200204228 + 28.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003730200204228[0m ×2 + 28.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004704592126708 + 28.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004704592126708[0m ×2 + 28.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003948951508304 + 28.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003948951508304[0m ×2 + 28.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004202129327590 + 28.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004202129327590[0m ×2 + 28.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002435418296300 + 28.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002435418296300[0m ×2 + 28.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002222251085202 + 28.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002222251085202[0m ×2 + 28.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002652702669844 + 28.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002652702669844[0m ×2 + 28.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002458556284464 + 28.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002458556284464[0m ×2 + 28.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002542548752559 + 28.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002542548752559[0m ×2 + 28.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002950834696159 + 28.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002950834696159[0m ×2 + 28.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001194330697814 + 28.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001194330697814[0m ×2 + 28.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001557176072998 + 28.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001557176072998[0m ×2 + 28.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000478685943862 + 28.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000478685943862[0m ×2 + 28.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000925225830816 + 28.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000925225830816[0m ×2 + 28.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001198805077673 + 28.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001198805077673[0m ×2 + 28.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003583929180195 + 28.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003583929180195[0m ×2 + 28.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004741757306191 + 28.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004741757306191[0m ×2 + 28.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004983265747919 + 28.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004983265747919[0m ×2 + 28.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117898641683 + 28.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117898641683[0m ×2 + 28.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002841825756672 + 28.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002841825756672[0m ×2 + 29.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002602654486556 + 29.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002602654486556[0m ×2 + 29.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003386309523260 + 29.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003386309523260[0m ×2 + 29.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002978748026861 + 29.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002978748026861[0m ×2 + 29.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001217492495539 + 29.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001217492495539[0m ×2 + 29.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002698669559564 + 29.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002698669559564[0m ×2 + 29.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002575603861178 + 29.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002575603861178[0m ×2 + 29.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002827488426970 + 29.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002827488426970[0m ×2 + 29.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937640 ms (missed cycles : 2). + 29.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937640 ms (missed cycles : 2).[0m ×2 + 29.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001274401929990 + 29.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001274401929990[0m ×2 + 29.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002645622989465 + 29.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002645622989465[0m ×2 + 29.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002665836525408 + 29.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002665836525408[0m ×2 + 29.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004131943149492 + 29.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004131943149492[0m ×2 + 29.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004258948739590 + 29.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004258948739590[0m ×2 + 29.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003711484039062 + 29.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003711484039062[0m ×2 + 29.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002850323719224 + 29.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002850323719224[0m ×2 + 29.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002978887488801 + 29.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002978887488801[0m ×2 + 29.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004247531678369 + 29.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004247531678369[0m ×2 + 29.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003623474091646 + 29.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003623474091646[0m ×2 + 29.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004459230761451 + 29.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004459230761451[0m ×2 + 29.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003742268431324 + 29.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003742268431324[0m ×2 + 29.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003266128960912 + 29.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003266128960912[0m ×2 + 29.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003388448830031 + 29.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003388448830031[0m ×2 + 29.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004112278143033 + 29.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004112278143033[0m ×2 + 29.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001880922298747 + 29.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001880922298747[0m ×2 + 29.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000523712541514 + 29.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000523712541514[0m ×2 + 29.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003592614415043 + 29.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003592614415043[0m ×2 + 29.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003733613905492 + 29.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003733613905492[0m ×2 + 29.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004850562522880 + 29.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004850562522880[0m ×2 + 29.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003974089166204 + 29.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003974089166204[0m ×2 + 29.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004543482471964 + 29.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004543482471964[0m ×2 + 29.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127833317685 + 29.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127833317685[0m ×2 + 29.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004128039841770 + 29.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004128039841770[0m ×2 + 29.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001849023169684 + 29.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001849023169684[0m ×2 + 29.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000605143744524 + 29.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000605143744524[0m ×2 + 29.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004355990489319 + 29.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004355990489319[0m ×2 + 29.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003787664453740 + 29.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003787664453740[0m ×2 + 29.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001713967819765 + 29.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001713967819765[0m ×2 + 29.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001693155948527 + 29.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001693155948527[0m ×2 + 29.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003444642876842 + 29.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003444642876842[0m ×2 + 29.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004095943060795 + 29.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004095943060795[0m ×2 + 29.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004809618950775 + 29.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004809618950775[0m ×2 + 29.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005252165708351 + 29.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005252165708351[0m ×2 + 29.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004130098788983 + 29.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004130098788983[0m ×2 + 29.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004592451546777 + 29.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004592451546777[0m ×2 + 29.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003463484809560 + 29.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003463484809560[0m ×2 + 29.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001424291414781 ×2 + 29.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001424291414781[0m ×4 + 29.36sWARNcontroller_managerOverrun might occur, Total time : 7823.775 us (Expected < 1666.667 us) --> Read time : 165.258 us, Update time : 7072.969 us, Write time : 585.548 us + 29.36sWARNros2_control_nodeOverrun might occur, Total time : 7823.775 us (Expected < 1666.667 us) --> Read time : 165.258 us, Update time : 7072.969 us, Write time : 585.548 us[0m ×2 + 29.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003592498929369 + 29.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003592498929369[0m ×2 + 29.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004112986028187 + 29.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004112986028187[0m ×2 + 29.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005221249790784 + 29.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005221249790784[0m ×2 + 29.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005509715630582 + 29.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005509715630582[0m ×2 + 29.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005579025127731 + 29.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005579025127731[0m ×2 + 29.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002782714993236 + 29.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002782714993236[0m ×2 + 29.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004304196577362 + 29.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004304196577362[0m ×2 + 29.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002642306921557 + 29.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002642306921557[0m ×2 + 29.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003086268031808 + 29.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003086268031808[0m ×2 + 29.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000323861485330 + 29.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000323861485330[0m ×2 + 29.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284844988049 + 29.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284844988049[0m ×2 + 29.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001828595831994 + 29.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001828595831994[0m ×2 + 29.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002849784233986 + 29.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002849784233986[0m ×2 + 29.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003268269144417 + 29.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003268269144417[0m ×2 + 29.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003032764717902 + 29.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003032764717902[0m ×2 + 29.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003451246973925 + 29.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003451246973925[0m ×2 + 29.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003090816873508 + 29.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003090816873508[0m ×2 + 29.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001898869045331 + 29.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001898869045331[0m ×2 + 29.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003890049593251 + 29.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003890049593251[0m ×2 + 29.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003958716744996 + 29.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003958716744996[0m ×2 + 29.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005336705598103 + 29.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005336705598103[0m ×2 + 29.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005581528392951 + 29.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005581528392951[0m ×2 + 29.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003765706683099 + 29.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003765706683099[0m ×2 + 29.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003984439352405 + 29.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003984439352405[0m ×2 + 29.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001794505568389 + 29.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001794505568389[0m ×2 + 29.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003158674114240 + 29.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003158674114240[0m ×2 + 29.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003590444211865 + 29.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003590444211865[0m ×2 + 29.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002346991948451 + 29.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002346991948451[0m ×2 + 29.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003137200001343 + 29.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003137200001343[0m ×2 + 29.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003072748790098 + 29.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003072748790098[0m ×2 + 29.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004405617366777 + 29.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004405617366777[0m ×2 + 29.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003673840763574 + 29.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003673840763574[0m ×2 + 29.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004451408343456 + 29.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004451408343456[0m ×2 + 29.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004572074412919 + 29.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004572074412919[0m ×2 + 29.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000678056712612 + 29.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000678056712612[0m ×2 + 29.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003079161688271 + 29.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003079161688271[0m ×2 + 29.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003837842027173 + 29.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003837842027173[0m ×2 + 29.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003809872337044 + 29.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003809872337044[0m ×2 + 29.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004258455737648 + 29.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004258455737648[0m ×2 + 29.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002171990019352 + 29.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002171990019352[0m ×2 + 29.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003248492545048 + 29.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003248492545048[0m ×2 + 29.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365435536646 + 29.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365435536646[0m ×2 + 29.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003022661170262 + 29.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003022661170262[0m ×2 + 29.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003430164579293 + 29.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003430164579293[0m ×2 + 29.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001651940093049 + 29.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001651940093049[0m ×2 + 29.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003251813010999 + 29.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003251813010999[0m ×2 + 29.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004016655454496 + 29.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004016655454496[0m ×2 + 29.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000779941468859 + 29.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000779941468859[0m ×2 + 29.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000515555456720 + 29.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000515555456720[0m ×2 + 29.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003438795305385 + 29.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003438795305385[0m ×2 + 29.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004669924992564 + 29.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004669924992564[0m ×2 + 29.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004893394493252 + 29.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004893394493252[0m ×2 + 29.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005274603338968 + 29.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005274603338968[0m ×2 + 29.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005682390052268 + 29.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005682390052268[0m ×2 + 29.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005631467369668 + 29.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005631467369668[0m ×2 + 29.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004318740724788 + 29.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004318740724788[0m ×2 + 29.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004697957701910 + 29.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004697957701910[0m ×2 + 29.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003608071625953 + 29.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003608071625953[0m ×2 + 29.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003997225842143 + 29.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003997225842143[0m ×2 + 29.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002172924637684 + 29.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002172924637684[0m ×2 + 29.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003511175632482 + 29.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003511175632482[0m ×2 + 29.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001582926468522 + 29.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001582926468522[0m ×2 + 29.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000656479291460 + 29.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000656479291460[0m ×2 + 29.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000923909566425 + 29.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000923909566425[0m ×2 + 29.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002141712969871 + 29.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002141712969871[0m ×2 + 29.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002236671744901 + 29.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002236671744901[0m ×2 + 29.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967366468895 + 29.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967366468895[0m ×2 + 29.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002861009158444 + 29.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002861009158444[0m ×2 + 29.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004302461706963 + 29.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004302461706963[0m ×2 + 29.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005068810918117 + 29.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005068810918117[0m ×2 + 29.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005614166202059 + 29.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005614166202059[0m ×2 + 29.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003678128561649 + 29.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003678128561649[0m ×2 + 29.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001658638273161 + 29.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001658638273161[0m ×2 + 29.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003002779479189 + 29.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003002779479189[0m ×2 + 29.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003735643286982 + 29.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003735643286982[0m ×2 + 29.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003205009374896 + 29.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003205009374896[0m ×2 + 29.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004736059155334 + 29.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004736059155334[0m ×2 + 29.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005135559200953 + 29.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005135559200953[0m ×2 + 29.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004020114751244 + 29.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004020114751244[0m ×2 + 29.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004435028112973 + 29.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004435028112973[0m ×2 + 29.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003511915223300 + 29.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003511915223300[0m ×2 + 30.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102607802279 + 30.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102607802279[0m ×2 + 30.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003321758313660 + 30.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003321758313660[0m ×2 + 30.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001454936919006 + 30.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001454936919006[0m ×2 + 30.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002884928817148 + 30.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002884928817148[0m ×2 + 30.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003750094370005 + 30.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003750094370005[0m ×2 + 30.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004314271058384 + 30.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004314271058384[0m ×2 + 30.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003479344078603 + 30.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003479344078603[0m ×2 + 30.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004208712724494 + 30.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004208712724494[0m ×2 + 30.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003408564952295 + 30.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003408564952295[0m ×2 + 30.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004139157874173 + 30.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004139157874173[0m ×2 + 30.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001969829288347 + 30.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001969829288347[0m ×2 + 30.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001225382659392 + 30.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001225382659392[0m ×2 + 30.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001614989736109 + 30.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001614989736109[0m ×2 + 30.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003049964829708 + 30.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003049964829708[0m ×2 + 30.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943883892501 + 30.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943883892501[0m ×2 + 30.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140121 ms (missed cycles : 2). + 30.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004153565048168 + 30.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140121 ms (missed cycles : 2).[0m ×2 + 30.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004153565048168[0m ×2 + 30.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003457102592237 + 30.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003457102592237[0m ×2 + 30.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003172943898509 + 30.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003172943898509[0m ×2 + 30.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004050569642103 + 30.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004050569642103[0m ×2 + 30.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004537276558195 + 30.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004537276558195[0m ×2 + 30.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004918502280006 + 30.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004918502280006[0m ×2 + 30.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003861056546832 + 30.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003861056546832[0m ×2 + 30.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004624232937997 + 30.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004624232937997[0m ×2 + 30.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005330186979148 + 30.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005330186979148[0m ×2 + 30.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005203609807165 + 30.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005203609807165[0m ×2 + 30.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942153354345 + 30.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942153354345[0m ×2 + 30.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004634963501670 + 30.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004634963501670[0m ×2 + 30.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003551968514342 + 30.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003551968514342[0m ×2 + 30.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001560829344447 + 30.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001560829344447[0m ×2 + 30.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976679891072 + 30.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976679891072[0m ×2 + 30.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004197914303651 + 30.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004197914303651[0m ×2 + 30.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005153487407748 + 30.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005153487407748[0m ×2 + 30.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005153512661304 + 30.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005153512661304[0m ×2 + 30.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002630486352672 + 30.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002630486352672[0m ×2 + 30.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002745791062432 + 30.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002745791062432[0m ×2 + 30.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002930950314865 + 30.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002930950314865[0m ×2 + 30.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003887468627641 + 30.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003887468627641[0m ×2 + 30.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004573963147999 + 30.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004573963147999[0m ×2 + 30.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002427390956091 ×2 + 30.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002427390956091[0m ×4 + 30.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002794177997555 + 30.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002794177997555[0m ×2 + 30.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002983043329832 + 30.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002983043329832[0m ×2 + 30.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003665353821779 + 30.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003665353821779[0m ×2 + 30.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004299138886040 + 30.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004299138886040[0m ×2 + 30.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004812114081160 + 30.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004812114081160[0m ×2 + 30.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005500682130183 + 30.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005500682130183[0m ×2 + 30.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003263561013055 + 30.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003263561013055[0m ×2 + 30.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938786520205 + 30.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938786520205[0m ×2 + 30.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001943740432867 ×2 + 30.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001943740432867[0m ×4 + 30.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003124897651908 + 30.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003124897651908[0m ×2 + 30.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003834629799822 + 30.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003834629799822[0m ×2 + 30.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004301544315715 + 30.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004301544315715[0m ×2 + 30.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004518493366575 + 30.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004518493366575[0m ×2 + 30.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005740578635116 + 30.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005740578635116[0m ×2 + 30.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005357377167307 + 30.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005357377167307[0m ×2 + 30.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002754986386041 + 30.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002754986386041[0m ×2 + 30.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005141732403139 + 30.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005141732403139[0m ×2 + 30.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003877739156866 + 30.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003877739156866[0m ×2 + 30.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005044453565012 + 30.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005044453565012[0m ×2 + 30.48sWARNcontroller_managerOverrun might occur, Total time : 4327.197 us (Expected < 1666.667 us) --> Read time : 3791.501 us, Update time : 90.145 us, Write time : 445.551 us + 30.48sWARNros2_control_nodeOverrun might occur, Total time : 4327.197 us (Expected < 1666.667 us) --> Read time : 3791.501 us, Update time : 90.145 us, Write time : 445.551 us[0m ×2 + 30.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003730346924578 + 30.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003730346924578[0m ×2 + 30.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003226181913613 + 30.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003226181913613[0m ×2 + 30.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002673468235003 + 30.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002673468235003[0m ×2 + 30.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003601948557040 + 30.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003601948557040[0m ×2 + 30.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003859068488108 + 30.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003859068488108[0m ×2 + 30.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003143966624317 + 30.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003143966624317[0m ×2 + 30.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003799019100940 + 30.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003799019100940[0m ×2 + 30.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213765064206 + 30.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213765064206[0m ×2 + 30.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004423027467404 + 30.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004423027467404[0m ×2 + 30.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004611661115414 + 30.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004611661115414[0m ×2 + 30.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003593893520642 + 30.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003593893520642[0m ×2 + 30.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004247923310074 + 30.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004247923310074[0m ×2 + 30.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004422046696372 + 30.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004422046696372[0m ×2 + 30.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004475331387514 + 30.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004475331387514[0m ×2 + 30.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003458597086649 + 30.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003458597086649[0m ×2 + 30.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003843858423061 + 30.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003843858423061[0m ×2 + 30.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463115099662 + 30.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463115099662[0m ×2 + 30.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004444978289079 + 30.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004444978289079[0m ×2 + 30.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004449590195610 + 30.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004449590195610[0m ×2 + 30.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003462559374993 + 30.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003462559374993[0m ×2 + 30.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000825652418098 + 30.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000825652418098[0m ×2 + 30.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002048509543008 + 30.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002048509543008[0m ×2 + 30.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003093871920327 + 30.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003093871920327[0m ×2 + 30.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003800443529581 + 30.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003800443529581[0m ×2 + 30.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004959779068878 + 30.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004959779068878[0m ×2 + 30.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004911337513602 + 30.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004911337513602[0m ×2 + 30.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004817136739166 + 30.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004817136739166[0m ×2 + 30.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005153318848788 + 30.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005153318848788[0m ×2 + 30.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004909308266885 + 30.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004909308266885[0m ×2 + 30.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005090522153566 + 30.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005090522153566[0m ×2 + 30.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004825263097029 + 30.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004825263097029[0m ×2 + 30.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004633358305984 + 30.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004633358305984[0m ×2 + 30.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004813661792337 + 30.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004813661792337[0m ×2 + 30.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004608525574105 + 30.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004608525574105[0m ×2 + 30.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004705712022812 + 30.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004705712022812[0m ×2 + 30.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004528559394501 + 30.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004528559394501[0m ×2 + 30.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004420631775224 + 30.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004420631775224[0m ×2 + 30.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004599598044752 + 30.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004599598044752[0m ×2 + 30.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003463729291920 + 30.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003463729291920[0m ×2 + 30.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003721119281568 + 30.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003721119281568[0m ×2 + 30.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004324907179189 + 30.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004324907179189[0m ×2 + 30.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298448451139 + 30.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298448451139[0m ×2 + 30.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004626832780493 + 30.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004626832780493[0m ×2 + 30.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005080890173466 + 30.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005080890173466[0m ×2 + 30.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003531834784565 + 30.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003531834784565[0m ×2 + 30.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004066928578322 + 30.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004066928578322[0m ×2 + 30.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003977371478378 + 30.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003977371478378[0m ×2 + 30.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002529260390790 + 30.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002529260390790[0m ×2 + 30.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005320494502642 + 30.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005320494502642[0m ×2 + 30.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006981789331904 + 30.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006981789331904[0m ×2 + 30.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006951075162837 + 30.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006951075162837[0m ×2 + 30.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006168219125874 + 30.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006168219125874[0m ×2 + 30.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007239627425061 + 30.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007239627425061[0m ×2 + 30.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005996417436411 + 30.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005996417436411[0m ×2 + 30.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005153025366074 + 30.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005153025366074[0m ×2 + 30.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005346923937065 + 30.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005346923937065[0m ×2 + 30.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004655842897108 + 30.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004655842897108[0m ×2 + 30.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004873292658585 + 30.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004873292658585[0m ×2 + 30.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004363317510398 + 30.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004363317510398[0m ×2 + 30.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004162148992657 + 30.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004162148992657[0m ×2 + 30.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004732744925448 + 30.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004732744925448[0m ×2 + 30.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004841136861689 + 30.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004841136861689[0m ×2 + 30.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004806219222390 + 30.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004806219222390[0m ×2 + 30.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004396026399914 + 30.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004396026399914[0m ×2 + 30.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005431741982665 + 30.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005431741982665[0m ×2 + 30.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004878599552301 + 30.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004878599552301[0m ×2 + 31.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004520894681911 + 31.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004520894681911[0m ×2 + 31.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005086409801929 + 31.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005086409801929[0m ×2 + 31.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004638362424413 + 31.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004638362424413[0m ×2 + 31.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004943440534305 + 31.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004943440534305[0m ×2 + 31.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004531934495780 + 31.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004531934495780[0m ×2 + 31.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835708919160 + 31.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835708919160[0m ×2 + 31.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453512459925 + 31.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453512459925[0m ×2 + 31.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004211568707476 + 31.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004211568707476[0m ×2 + 31.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005233537272690 + 31.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005233537272690[0m ×2 + 31.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005145689307327 + 31.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005145689307327[0m ×2 + 31.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005623542043906 + 31.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005623542043906[0m ×2 + 31.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003319676971596 + 31.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003319676971596[0m ×2 + 31.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004980723081997 + 31.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004980723081997[0m ×2 + 31.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005365536645753 + 31.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005365536645753[0m ×2 + 31.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004793010140298 + 31.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004793010140298[0m ×2 + 31.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005094949533375 + 31.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005094949533375[0m ×2 + 31.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004573726553677 + 31.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004573726553677[0m ×2 + 31.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004255405653078 + 31.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004255405653078[0m ×2 + 31.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165639 ms (missed cycles : 3). + 31.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165639 ms (missed cycles : 3).[0m ×2 + 31.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005255579431543 + 31.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005255579431543[0m ×2 + 31.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004953151008601 + 31.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004953151008601[0m ×2 + 31.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005450446313117 + 31.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005450446313117[0m ×2 + 31.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004705411814826 + 31.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004705411814826[0m ×2 + 31.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005656985716310 + 31.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005656985716310[0m ×2 + 31.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931881395634 + 31.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931881395634[0m ×2 + 31.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004488804054009 + 31.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004488804054009[0m ×2 + 31.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004995939636737 + 31.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004995939636737[0m ×2 + 31.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453519618811 + 31.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453519618811[0m ×2 + 31.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004149048525972 + 31.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004149048525972[0m ×2 + 31.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005122146561293 + 31.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005122146561293[0m ×2 + 31.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004573210740275 + 31.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004573210740275[0m ×2 + 31.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005099307849321 + 31.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005099307849321[0m ×2 + 31.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004543929009081 + 31.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004543929009081[0m ×2 + 31.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191969358826 + 31.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191969358826[0m ×2 + 31.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005581388959955 + 31.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005581388959955[0m ×2 + 31.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004730866681766 + 31.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004730866681766[0m ×2 + 31.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004246444812713 + 31.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004246444812713[0m ×2 + 31.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005196724941662 + 31.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005196724941662[0m ×2 + 31.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004536766271883 + 31.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004536766271883[0m ×2 + 31.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048755656215 + 31.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048755656215[0m ×2 + 31.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004436481054444 + 31.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004436481054444[0m ×2 + 31.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005618519805804 + 31.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005618519805804[0m ×2 + 31.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005659862425437 + 31.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005659862425437[0m ×2 + 31.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004720828704425 + 31.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004720828704425[0m ×2 + 31.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004186357759839 + 31.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004186357759839[0m ×2 + 31.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005113492826578 + 31.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005113492826578[0m ×2 + 31.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429195681620 + 31.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429195681620[0m ×2 + 31.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005358192235459 + 31.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005358192235459[0m ×2 + 31.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004073169549107 + 31.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004073169549107[0m ×2 + 31.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005001275575131 + 31.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005001275575131[0m ×2 + 31.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005918586904048 + 31.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005918586904048[0m ×2 + 31.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005029437950044 + 31.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005029437950044[0m ×2 + 31.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005908404233241 + 31.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005908404233241[0m ×2 + 31.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006158943480317 + 31.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006158943480317[0m ×2 + 31.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004999054107964 + 31.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004999054107964[0m ×2 + 31.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005304135607053 + 31.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005304135607053[0m ×2 + 31.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004439678135759 + 31.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004439678135759[0m ×2 + 31.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005419785701688 + 31.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005419785701688[0m ×2 + 31.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005666555795818 + 31.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005666555795818[0m ×2 + 31.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004651280504714 + 31.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004651280504714[0m ×2 + 31.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005517747992977 + 31.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005517747992977[0m ×2 + 31.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004528165813772 + 31.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004528165813772[0m ×2 + 31.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005390064567122 + 31.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005390064567122[0m ×2 + 31.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004492821735359 + 31.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004492821735359[0m ×2 + 31.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005357220159660 + 31.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005357220159660[0m ×2 + 31.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004535570894004 + 31.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004535570894004[0m ×2 + 31.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036140352229 + 31.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036140352229[0m ×2 + 31.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004846892276418 + 31.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004846892276418[0m ×2 + 31.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005568385998316 + 31.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005568385998316[0m ×2 + 31.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005958211233442 + 31.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005958211233442[0m ×2 + 31.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004808784333757 + 31.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004808784333757[0m ×2 + 31.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005635846709913 + 31.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005635846709913[0m ×2 + 31.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004605590042571 + 31.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004605590042571[0m ×2 + 31.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003634594767541 + 31.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003634594767541[0m ×2 + 31.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344627483456 + 31.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344627483456[0m ×2 + 31.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048542077781 + 31.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048542077781[0m ×2 + 31.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005665115997743 + 31.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005665115997743[0m ×2 + 31.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006436350650550 + 31.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006436350650550[0m ×2 + 31.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006380994740363 + 31.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006380994740363[0m ×2 + 31.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004999926020884 + 31.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004999926020884[0m ×2 + 31.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005789432414336 + 31.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005789432414336[0m ×2 + 31.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004615214802351 + 31.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004615214802351[0m ×2 + 31.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005203197071023 + 31.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005203197071023[0m ×2 + 31.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005418952088038 + 31.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005418952088038[0m ×2 + 31.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005611313429622 + 31.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005611313429622[0m ×2 + 31.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005674648566072 + 31.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005674648566072[0m ×2 + 31.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004464540840884 + 31.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004464540840884[0m ×2 + 31.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005050313114834 + 31.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005050313114834[0m ×2 + 31.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005440278220171 + 31.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005440278220171[0m ×2 + 31.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005531439253361 + 31.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005531439253361[0m ×2 + 31.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005593930612555 + 31.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005593930612555[0m ×2 + 31.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004404595257080 + 31.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004404595257080[0m ×2 + 31.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005154952508043 + 31.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005154952508043[0m ×2 + 31.69sWARNcontroller_managerOverrun might occur, Total time : 1940.753 us (Expected < 1666.667 us) --> Read time : 225.671 us, Update time : 214.270 us, Write time : 1500.812 us + 31.69sWARNros2_control_nodeOverrun might occur, Total time : 1940.753 us (Expected < 1666.667 us) --> Read time : 225.671 us, Update time : 214.270 us, Write time : 1500.812 us[0m ×2 + 31.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005421082163810 + 31.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005421082163810[0m ×2 + 31.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004069696520415 + 31.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004069696520415[0m ×2 + 31.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004593114192713 + 31.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004593114192713[0m ×2 + 31.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005928126259551 + 31.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005928126259551[0m ×2 + 31.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005922874624456 + 31.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005922874624456[0m ×2 + 31.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005779856325067 + 31.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005779856325067[0m ×2 + 31.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005691013791286 + 31.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005691013791286[0m ×2 + 31.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005750141377254 + 31.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005750141377254[0m ×2 + 31.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004398976000201 + 31.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004398976000201[0m ×2 + 31.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005095171450974 + 31.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005095171450974[0m ×2 + 31.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005233600233546 + 31.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005233600233546[0m ×2 + 31.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005432688172581 + 31.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005432688172581[0m ×2 + 31.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005382300788348 + 31.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005382300788348[0m ×2 + 31.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006348679069842 + 31.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006348679069842[0m ×2 + 31.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006360996895255 + 31.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006360996895255[0m ×2 + 31.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005303999773873 + 31.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005303999773873[0m ×2 + 31.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005525092249717 + 31.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005525092249717[0m ×2 + 31.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005710408693274 + 31.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005710408693274[0m ×2 + 31.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005808187105092 + 31.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005808187105092[0m ×2 + 31.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005403239789968 + 31.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005403239789968[0m ×2 + 31.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006326900284627 + 31.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006326900284627[0m ×2 + 31.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005053258704994 + 31.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005053258704994[0m ×2 + 31.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005444914457584 + 31.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005444914457584[0m ×2 + 31.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005036804358107 + 31.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005036804358107[0m ×2 + 31.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005693028325205 + 31.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005693028325205[0m ×2 + 31.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005468304282362 + 31.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005468304282362[0m ×2 + 31.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005163304275734 + 31.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005163304275734[0m ×2 + 31.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005499916645867 + 31.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005499916645867[0m ×2 + 31.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005241715395724 + 31.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005241715395724[0m ×2 + 31.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005569337978340 + 31.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005569337978340[0m ×2 + 31.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005232153839252 + 31.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005232153839252[0m ×2 + 31.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005001560341796 + 31.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005001560341796[0m ×2 + 31.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005600191060291 + 31.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005600191060291[0m ×2 + 31.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005244958771171 + 31.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005244958771171[0m ×2 + 31.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005563575266454 + 31.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005563575266454[0m ×2 + 31.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005175072527252 + 31.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005175072527252[0m ×2 + 31.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004910443801209 + 31.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004910443801209[0m ×2 + 31.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005491901350980 + 31.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005491901350980[0m ×2 + 31.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005126532285696 + 31.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005126532285696[0m ×2 + 31.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005435900178522 + 31.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005435900178522[0m ×2 + 31.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005051238408155 + 31.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005051238408155[0m ×2 + 31.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004817494010108 + 31.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004817494010108[0m ×2 + 32.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005386640414263 + 32.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005386640414263[0m ×2 + 32.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005404372963807 + 32.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005404372963807[0m ×2 + 32.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004451340709308 + 32.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004451340709308[0m ×2 + 32.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005628652073373 + 32.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005628652073373[0m ×2 + 32.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008382299299609 + 32.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008382299299609[0m ×2 + 32.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002775356678317 + 32.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002775356678317[0m ×2 + 32.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008329831234964 + 32.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008329831234964[0m ×2 + 32.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008363057144378 + 32.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008363057144378[0m ×2 + 32.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004943925349525 + 32.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004943925349525[0m ×2 + 32.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005328137063228 + 32.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005328137063228[0m ×2 + 32.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004597412055387 + 32.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004597412055387[0m ×2 + 32.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004491850526107 + 32.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004491850526107[0m ×2 + 32.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005395221063117 + 32.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005395221063117[0m ×2 + 32.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004906889506727 + 32.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004906889506727[0m ×2 + 32.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005401245696449 + 32.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005401245696449[0m ×2 + 32.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004843977089701 + 32.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004843977089701[0m ×2 + 32.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005758563185421 + 32.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005758563185421[0m ×2 + 32.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924566 ms (missed cycles : 3). + 32.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005077871957563 + 32.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924566 ms (missed cycles : 3).[0m ×2 + 32.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005077871957563[0m ×2 + 32.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004537301207760 + 32.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004537301207760[0m ×2 + 32.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004975277585284 + 32.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004975277585284[0m ×2 + 32.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003648272866055 + 32.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003648272866055[0m ×2 + 32.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004955373308410 + 32.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004955373308410[0m ×2 + 32.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006524193587939 + 32.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006524193587939[0m ×2 + 32.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007081685935292 + 32.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007081685935292[0m ×2 + 32.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005731897027648 + 32.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005731897027648[0m ×2 + 32.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006468040556718 + 32.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006468040556718[0m ×2 + 32.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006582063618288 + 32.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006582063618288[0m ×2 + 32.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005158204132518 + 32.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005158204132518[0m ×2 + 32.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006051940960635 + 32.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006051940960635[0m ×2 + 32.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005073736507313 + 32.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005073736507313[0m ×2 + 32.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005760920417306 + 32.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005760920417306[0m ×2 + 32.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005980159995335 + 32.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005980159995335[0m ×2 + 32.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004914862187929 + 32.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004914862187929[0m ×2 + 32.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005942203411157 + 32.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005942203411157[0m ×2 + 32.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005251824080229 + 32.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005251824080229[0m ×2 + 32.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005521576623407 + 32.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005521576623407[0m ×2 + 32.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005976549122517 + 32.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005976549122517[0m ×2 + 32.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004986446323732 + 32.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004986446323732[0m ×2 + 32.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005722758334575 + 32.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005722758334575[0m ×2 + 32.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006116768583744 + 32.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006116768583744[0m ×2 + 32.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006169937955903 + 32.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006169937955903[0m ×2 + 32.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004697625787466 + 32.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004697625787466[0m ×2 + 32.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005578697553476 + 32.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005578697553476[0m ×2 + 32.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005032360042460 + 32.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005032360042460[0m ×2 + 32.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006710859756511 + 32.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006710859756511[0m ×2 + 32.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004265829209706 + 32.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004265829209706[0m ×2 + 32.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004747718355485 + 32.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004747718355485[0m ×2 + 32.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007308696067419 + 32.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007308696067419[0m ×2 + 32.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007444043596977 + 32.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007444043596977[0m ×2 + 32.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004485305312355 + 32.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004485305312355[0m ×2 + 32.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008309830004070 + 32.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008309830004070[0m ×2 + 32.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008351697256298 + 32.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008351697256298[0m ×2 + 32.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004950644902837 + 32.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004950644902837[0m ×2 + 32.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005198347347093 + 32.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005198347347093[0m ×2 + 32.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005967102847028 + 32.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005967102847028[0m ×2 + 32.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004333888474076 + 32.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004333888474076[0m ×2 + 32.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007129314343958 + 32.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007129314343958[0m ×2 + 32.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007166236518471 + 32.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007166236518471[0m ×2 + 32.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002295220583161 + 32.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002295220583161[0m ×2 + 32.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003735637278174 + 32.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003735637278174[0m ×2 + 32.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008835925183771 + 32.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008835925183771[0m ×2 + 32.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008865424086168 + 32.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008865424086168[0m ×2 + 32.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005240283719020 + 32.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005240283719020[0m ×2 + 32.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003459676455628 + 32.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003459676455628[0m ×2 + 32.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698886809884 + 32.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698886809884[0m ×2 + 32.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005572399294191 + 32.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005572399294191[0m ×2 + 32.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880291424306 + 32.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880291424306[0m ×2 + 32.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005925956068430 + 32.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005925956068430[0m ×2 + 32.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004802711673164 + 32.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004802711673164[0m ×2 + 32.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005232139757523 + 32.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005232139757523[0m ×2 + 32.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005729785392513 + 32.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005729785392513[0m ×2 + 32.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003635778960710 + 32.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003635778960710[0m ×2 + 32.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012504545503442 + 32.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012504545503442[0m ×2 + 32.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007446332337169 + 32.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007446332337169[0m ×2 + 32.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005446630733028 + 32.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005446630733028[0m ×2 + 32.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005435355779771 + 32.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005435355779771[0m ×2 + 32.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002924515558938 + 32.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002924515558938[0m ×2 + 32.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003388180029729 + 32.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003388180029729[0m ×2 + 32.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004064338429683 + 32.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004064338429683[0m ×2 + 32.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004450254023943 + 32.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004450254023943[0m ×2 + 32.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003529036734004 + 32.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003529036734004[0m ×2 + 32.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006095131114157 + 32.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006095131114157[0m ×2 + 32.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006132385596695 + 32.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006132385596695[0m ×2 + 32.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004314671397783 + 32.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004314671397783[0m ×2 + 32.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005754359832150 + 32.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005754359832150[0m ×2 + 32.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004871090395598 + 32.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004871090395598[0m ×2 + 32.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006280685635703 + 32.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006280685635703[0m ×2 + 32.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452061466435 + 32.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452061466435[0m ×2 + 32.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009860969880713 + 32.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009860969880713[0m ×2 + 32.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005883829376721 + 32.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005883829376721[0m ×2 + 32.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003311256424799 + 32.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003311256424799[0m ×2 + 32.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004016682945192 + 32.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004016682945192[0m ×2 + 32.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006287018222336 + 32.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006287018222336[0m ×2 + 32.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006295423836449 + 32.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006295423836449[0m ×2 + 32.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001369016803312 + 32.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001369016803312[0m ×2 + 32.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020600525225268 + 32.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020600525225268[0m ×2 + 32.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012290343158771 + 32.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012290343158771[0m ×2 + 32.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012278520125663 + 32.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012278520125663[0m ×2 + 32.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006696833058290 + 32.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006696833058290[0m ×2 + 32.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003120485720616 + 32.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003120485720616[0m ×2 + 32.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003142643682503 + 32.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003142643682503[0m ×2 + 32.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001109891548521 + 32.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001109891548521[0m ×2 + 32.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001130675516056 + 32.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001130675516056[0m ×2 + 32.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000046957085436 + 32.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000046957085436[0m ×2 + 32.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043615153800 + 32.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043615153800[0m ×2 + 32.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057247180948 + 32.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057247180948[0m ×2 + 32.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012640846759886 + 32.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012640846759886[0m ×2 + 32.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012638309527710 + 32.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012638309527710[0m ×2 + 32.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007805060799076 + 32.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007805060799076[0m ×2 + 32.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004567252371372 + 32.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004567252371372[0m ×2 + 32.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004579553836437 + 32.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004579553836437[0m ×2 + 32.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002602920578270 + 32.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002602920578270[0m ×2 + 32.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002712055047774 + 32.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002712055047774[0m ×2 + 32.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006408074934135 + 32.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006408074934135[0m ×2 + 33.03sWARNcontroller_managerOverrun might occur, Total time : 2459.918 us (Expected < 1666.667 us) --> Read time : 252.692 us, Update time : 87.365 us, Write time : 2119.861 us + 33.03sWARNros2_control_nodeOverrun might occur, Total time : 2459.918 us (Expected < 1666.667 us) --> Read time : 252.692 us, Update time : 87.365 us, Write time : 2119.861 us[0m ×2 + 33.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.467551 ms (missed cycles : 13). + 33.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.467551 ms (missed cycles : 13).[0m ×2 + 34.18sWARNcontroller_managerOverrun might occur, Total time : 2366.723 us (Expected < 1666.667 us) --> Read time : 1718.392 us, Update time : 152.517 us, Write time : 495.814 us + 34.18sWARNros2_control_nodeOverrun might occur, Total time : 2366.723 us (Expected < 1666.667 us) --> Read time : 1718.392 us, Update time : 152.517 us, Write time : 495.814 us[0m ×2 + 34.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261556 ms (missed cycles : 3). + 34.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261556 ms (missed cycles : 3).[0m ×2 + 34.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014239151435952 + 34.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014239151435952[0m ×2 + 34.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012613395468288 + 34.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012613395468288[0m ×2 + 34.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012630961702066 + 34.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012630961702066[0m ×2 + 34.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007158573318401 ×2 + 34.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007158573318401[0m ×4 + 34.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001210886755765 + 34.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001210886755765[0m ×2 + 34.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000091745692958 ×2 + 34.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000091745692958[0m ×4 + 34.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000755535714677 + 34.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000755535714677[0m ×2 + 34.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001014484507404 + 34.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001014484507404[0m ×2 + 34.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001034599448361 + 34.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001034599448361[0m ×2 + 34.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001346975272916 + 34.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001346975272916[0m ×2 + 34.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001606584909909 + 34.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001606584909909[0m ×2 + 34.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000759133168725 + 34.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000759133168725[0m ×2 + 34.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013492440854000 + 34.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013492440854000[0m ×2 + 34.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017711209865454 + 34.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017711209865454[0m ×2 + 34.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010875608676463 + 34.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010875608676463[0m ×2 + 34.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011090950797120 + 34.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011090950797120[0m ×2 + 34.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006990832102373 + 34.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006990832102373[0m ×2 + 34.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004292614247724 + 34.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004292614247724[0m ×2 + 34.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001695119439895 + 34.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001695119439895[0m ×2 + 34.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022991591853214 + 34.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022991591853214[0m ×2 + 34.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013304254058821 ×2 + 34.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013304254058821[0m ×4 + 34.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007444063020168 + 34.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007444063020168[0m ×2 + 34.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007422973652807 + 34.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007422973652807[0m ×2 + 34.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008908498548975 + 34.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008908498548975[0m ×2 + 34.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005583758228628 + 34.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005583758228628[0m ×2 + 34.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011576897353657 + 34.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011576897353657[0m ×2 + 34.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006511863775593 + 34.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006511863775593[0m ×2 + 34.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006514228315642 + 34.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006514228315642[0m ×2 + 34.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003726215542218 + 34.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003726215542218[0m ×2 + 34.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003726166175929 + 34.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003726166175929[0m ×2 + 34.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018729344530367 + 34.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018729344530367[0m ×2 + 34.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011988804120768 + 34.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011988804120768[0m ×2 + 34.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007325117488520 + 34.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007325117488520[0m ×2 + 34.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005472698939085 + 34.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005472698939085[0m ×2 + 34.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002517898970196 + 34.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002517898970196[0m ×2 + 34.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002580616943329 + 34.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002580616943329[0m ×2 + 34.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000165250309114 + 34.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000165250309114[0m ×2 + 34.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002972433631446 + 34.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002972433631446[0m ×2 + 34.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009924844327096 + 34.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009924844327096[0m ×2 + 34.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005292216425679 + 34.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005292216425679[0m ×2 + 34.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002101755145265 + 34.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002101755145265[0m ×2 + 34.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001956141816984 + 34.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001956141816984[0m ×2 + 34.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015277514706 + 34.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015277514706[0m ×2 + 34.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008618650371408 + 34.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008618650371408[0m ×2 + 34.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010911932664093 + 34.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010911932664093[0m ×2 + 34.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006073886475924 + 34.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006073886475924[0m ×2 + 35.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006073949858652 + 35.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006073949858652[0m ×2 + 35.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027679356602859 + 35.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027679356602859[0m ×2 + 35.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017241778712624 + 35.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017241778712624[0m ×2 + 35.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009029706438768 + 35.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009029706438768[0m ×2 + 35.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004587570861470 + 35.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004587570861470[0m ×2 + 35.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004833921296838 + 35.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004833921296838[0m ×2 + 35.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001473451435375 + 35.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001473451435375[0m ×2 + 35.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000647104417638 + 35.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000647104417638[0m ×2 + 35.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001525486869446 + 35.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001525486869446[0m ×2 + 35.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001528439586118 ×2 + 35.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001528439586118[0m ×4 + 35.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001197528546065 ×2 + 35.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001197528546065[0m ×4 + 35.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001111098628915 + 35.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001111098628915[0m ×2 + 35.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056300014567 + 35.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056300014567[0m ×2 + 35.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000235932469930 + 35.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000235932469930[0m ×2 + 35.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040175799867 + 35.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040175799867[0m ×2 + 35.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000177512520763 + 35.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000177512520763[0m ×2 + 35.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000177491717293 + 35.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000177491717293[0m ×2 + 35.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022644555674137 + 35.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022644555674137[0m ×2 + 35.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024655698716246 + 35.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024655698716246[0m ×2 + 35.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015798089307036 + 35.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015798089307036[0m ×2 + 35.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021446251224165 + 35.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021446251224165[0m ×2 + 35.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014534434309587 + 35.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014534434309587[0m ×2 + 35.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006887436933430 + 35.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006887436933430[0m ×2 + 35.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007378100507599 + 35.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007378100507599[0m ×2 + 35.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012241031973931 + 35.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012241031973931[0m ×2 + 35.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012241084356380 + 35.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012241084356380[0m ×2 + 35.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007044957476808 + 35.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007044957476808[0m ×2 + 35.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007853136309062 + 35.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007853136309062[0m ×2 + 35.24sWARNcontroller_managerOverrun might occur, Total time : 4961.957 us (Expected < 1666.667 us) --> Read time : 239.341 us, Update time : 4335.067 us, Write time : 387.549 us + 35.24sWARNros2_control_nodeOverrun might occur, Total time : 4961.957 us (Expected < 1666.667 us) --> Read time : 239.341 us, Update time : 4335.067 us, Write time : 387.549 us[0m ×2 + 35.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084152795596 + 35.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084152795596[0m ×2 + 35.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001180961463312 + 35.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001180961463312[0m ×2 + 35.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023260384855 + 35.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023260384855[0m ×2 + 35.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038057148863 + 35.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038057148863[0m ×2 + 35.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000461441391322 + 35.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000461441391322[0m ×2 + 35.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002218364937699 + 35.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002218364937699[0m ×2 + 35.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003281444095312 + 35.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003281444095312[0m ×2 + 35.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001318568295722 + 35.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001318568295722[0m ×2 + 35.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008539476113268 + 35.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008539476113268[0m ×2 + 35.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008491575476064 + 35.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008491575476064[0m ×2 + 35.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018761706406069 ×2 + 35.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018761706406069[0m ×4 + 35.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010631561709619 + 35.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010631561709619[0m ×2 + 35.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018151151350055 + 35.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018151151350055[0m ×2 + 35.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009670752538046 + 35.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009670752538046[0m ×2 + 35.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004182644057336 + 35.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004182644057336[0m ×2 + 35.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004182751303821 + 35.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004182751303821[0m ×2 + 35.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888744704666 ×2 + 35.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888744704666[0m ×4 + 35.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.497996 ms (missed cycles : 6). + 35.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.497996 ms (missed cycles : 6).[0m ×2 + 35.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000689268014085 + 35.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000689268014085[0m ×2 + 35.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001837513064658 + 35.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001837513064658[0m ×2 + 35.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001703046680732 + 35.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001703046680732[0m ×2 + 35.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009609002733012 + 35.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009609002733012[0m ×2 + 35.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005476366202202 + 35.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005476366202202[0m ×2 + 35.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002725065443270 + 35.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002725065443270[0m ×2 + 35.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003394819077123 + 35.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003394819077123[0m ×2 + 35.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001671745310178 + 35.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001671745310178[0m ×2 + 35.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001671940206835 + 35.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001671940206835[0m ×2 + 35.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000380651572736 ×2 + 35.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000380651572736[0m ×4 + 35.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002621100511523 + 35.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002621100511523[0m ×2 + 35.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001756699210881 + 35.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001756699210881[0m ×2 + 35.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429824457725 + 35.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429824457725[0m ×2 + 35.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002859801277614 + 35.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002859801277614[0m ×2 + 35.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008347703131970 + 35.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008347703131970[0m ×2 + 35.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004528766133243 ×2 + 35.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004528766133243[0m ×4 + 35.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003068019977109 + 35.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003068019977109[0m ×2 + 35.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001354282289336 + 35.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001354282289336[0m ×2 + 35.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001265194958449 + 35.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001265194958449[0m ×2 + 35.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017803371017490 ×2 + 35.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017803371017490[0m ×4 + 35.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010201440516648 + 35.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010201440516648[0m ×2 + 35.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001926914657802 + 35.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001926914657802[0m ×2 + 35.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000500511471021 + 35.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000500511471021[0m ×2 + 35.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000366556647062 + 35.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000366556647062[0m ×2 + 35.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007127641679717 + 35.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007127641679717[0m ×2 + 35.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021903248763377 + 35.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021903248763377[0m ×2 + 35.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008667978337998 + 35.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008667978337998[0m ×2 + 35.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000924067692264 + 35.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000924067692264[0m ×2 + 35.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022604834449316 + 35.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022604834449316[0m ×2 + 35.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033272393679381 + 35.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033272393679381[0m ×2 + 35.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019454778244716 + 35.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019454778244716[0m ×2 + 35.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019523864023622 + 35.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019523864023622[0m ×2 + 35.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010423166612443 + 35.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010423166612443[0m ×2 + 35.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010422956002386 + 35.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010422956002386[0m ×2 + 35.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005021352342039 + 35.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005021352342039[0m ×2 + 35.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001172288913379 + 35.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001172288913379[0m ×2 + 35.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001172027605647 + 35.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001172027605647[0m ×2 + 35.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001141960798047 + 35.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001141960798047[0m ×2 + 35.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000160197137785 + 35.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000160197137785[0m ×2 + 35.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001423658671095 + 35.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001423658671095[0m ×2 + 35.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001756235673445 + 35.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001756235673445[0m ×2 + 35.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001626739330640 ×2 + 35.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001626739330640[0m ×4 + 35.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027247935267972 + 35.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027247935267972[0m ×2 + 35.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016262356842384 ×2 + 35.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016262356842384[0m ×4 + 35.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008903567883577 ×2 + 35.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008903567883577[0m ×4 + 35.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005471613237876 + 35.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005471613237876[0m ×2 + 35.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001885449886044 ×2 + 35.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001885449886044[0m ×4 + 35.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000544000804272 + 35.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000544000804272[0m ×2 + 35.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000549363792177 + 35.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000549363792177[0m ×2 + 35.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000780727418937 + 35.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000780727418937[0m ×2 + 35.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001358605228390 + 35.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001358605228390[0m ×2 + 35.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001320887728174 + 35.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001320887728174[0m ×2 + 35.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001319308685491 + 35.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001319308685491[0m ×2 + 35.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000890477519905 + 35.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000890477519905[0m ×2 + 35.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000862300738176 + 35.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000862300738176[0m ×2 + 35.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000630548771309 ×2 + 35.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000630548771309[0m ×4 + 35.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000545676541267 + 35.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000545676541267[0m ×2 + 35.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000455989840102 + 35.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000455989840102[0m ×2 + 35.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000057780094006 + 35.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000057780094006[0m ×2 + 35.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000176533579566 + 35.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000176533579566[0m ×2 + 35.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001495199606798 + 35.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001495199606798[0m ×2 + 35.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001513536832053 + 35.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001513536832053[0m ×2 + 35.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000876992723904 + 35.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000876992723904[0m ×2 + 35.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000749543703666 + 35.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000749543703666[0m ×2 + 35.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003161898948433 + 35.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003161898948433[0m ×2 + 35.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016329455036836 + 35.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016329455036836[0m ×2 + 35.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022806474797187 + 35.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022806474797187[0m ×2 + 35.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016819699915592 + 35.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016819699915592[0m ×2 + 35.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018708954909619 + 35.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018708954909619[0m ×2 + 35.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021039209431580 + 35.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021039209431580[0m ×2 + 35.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015219390051762 + 35.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015219390051762[0m ×2 + 35.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013640690286800 + 35.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013640690286800[0m ×2 + 36.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015360442885148 + 36.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015360442885148[0m ×2 + 36.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010680347377941 + 36.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010680347377941[0m ×2 + 36.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009400877278743 + 36.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009400877278743[0m ×2 + 36.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011640606020633 + 36.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011640606020633[0m ×2 + 36.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008130946363843 + 36.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008130946363843[0m ×2 + 36.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005222891723617 + 36.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005222891723617[0m ×2 + 36.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006442966643155 + 36.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006442966643155[0m ×2 + 36.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002019983281943 + 36.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002019983281943[0m ×2 + 36.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001388786287150 + 36.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001388786287150[0m ×2 + 36.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001409801557032 + 36.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001409801557032[0m ×2 + 36.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000721134922284 + 36.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000721134922284[0m ×2 + 36.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000666754607913 + 36.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000666754607913[0m ×2 + 36.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000702603162279 + 36.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000702603162279[0m ×2 + 36.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000534260028873 + 36.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000534260028873[0m ×2 + 36.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001962996661420 + 36.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001962996661420[0m ×2 + 36.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001726110254500 + 36.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001726110254500[0m ×2 + 36.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001419186629997 + 36.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001419186629997[0m ×2 + 36.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000058978686150 + 36.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000058978686150[0m ×2 + 36.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001172965091857 + 36.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001172965091857[0m ×2 + 36.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001625709060974 + 36.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001625709060974[0m ×2 + 36.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002333589025359 + 36.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002333589025359[0m ×2 + 36.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002202716050782 + 36.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002202716050782[0m ×2 + 36.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002677896797187 + 36.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002677896797187[0m ×2 + 36.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001777270557731 + 36.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001777270557731[0m ×2 + 36.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002602252315275 + 36.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002602252315275[0m ×2 + 36.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002747514792506 + 36.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002747514792506[0m ×2 + 36.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002587672138073 + 36.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002587672138073[0m ×2 + 36.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001081718185351 + 36.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001081718185351[0m ×2 + 36.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002039874948160 + 36.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002039874948160[0m ×2 + 36.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002040014827564 + 36.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002040014827564[0m ×2 + 36.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789581755093 + 36.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789581755093[0m ×2 + 36.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000060447968373 + 36.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000060447968373[0m ×2 + 36.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000423542726523 + 36.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000423542726523[0m ×2 + 36.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000423755143642 + 36.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000423755143642[0m ×2 + 36.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000614913527464 + 36.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000614913527464[0m ×2 + 36.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001169956631955 + 36.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001169956631955[0m ×2 + 36.29sWARNcontroller_managerOverrun might occur, Total time : 4371.939 us (Expected < 1666.667 us) --> Read time : 95.515 us, Update time : 3938.387 us, Write time : 338.037 us + 36.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001751203200430 + 36.30sWARNros2_control_nodeOverrun might occur, Total time : 4371.939 us (Expected < 1666.667 us) --> Read time : 95.515 us, Update time : 3938.387 us, Write time : 338.037 us[0m ×2 + 36.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001751203200430[0m ×2 + 36.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001939055624323 + 36.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001939055624323[0m ×2 + 36.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002933113546642 + 36.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002933113546642[0m ×2 + 36.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003220536304846 + 36.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003220536304846[0m ×2 + 36.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001579717090709 + 36.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001579717090709[0m ×2 + 36.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002504358229596 + 36.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002504358229596[0m ×2 + 36.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002783981794271 + 36.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002783981794271[0m ×2 + 36.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408101979919 + 36.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408101979919[0m ×2 + 36.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004884163083285 + 36.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004884163083285[0m ×2 + 36.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003002979951427 + 36.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003002979951427[0m ×2 + 36.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003338614677348 + 36.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003338614677348[0m ×2 + 36.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003201213288331 + 36.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003201213288331[0m ×2 + 36.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001294787005194 + 36.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001294787005194[0m ×2 + 36.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001199826471 + 36.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001199826471[0m ×2 + 36.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004072152113873 + 36.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004072152113873[0m ×2 + 36.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004079607860073 + 36.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004079607860073[0m ×2 + 36.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001808327995305 + 36.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001808327995305[0m ×2 + 36.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005794574404520 + 36.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005794574404520[0m ×2 + 36.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004618178972237 + 36.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004618178972237[0m ×2 + 36.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005539428714167 + 36.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005539428714167[0m ×2 + 36.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004362583216925 + 36.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916128 ms (missed cycles : 2). + 36.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004362583216925[0m ×2 + 36.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916128 ms (missed cycles : 2).[0m ×2 + 36.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002421415417264 + 36.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002421415417264[0m ×2 + 36.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002494497622227 + 36.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002494497622227[0m ×2 + 36.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002657988371750 + 36.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002657988371750[0m ×2 + 36.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003121184053244 + 36.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003121184053244[0m ×2 + 36.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001122768064699 ×2 + 36.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001122768064699[0m ×4 + 36.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063907546445 + 36.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063907546445[0m ×2 + 36.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000691978836374 + 36.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000691978836374[0m ×2 + 36.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000691992363422 + 36.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000691992363422[0m ×2 + 36.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000169289028264 + 36.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000169289028264[0m ×2 + 36.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001205432699440 + 36.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001205432699440[0m ×2 + 36.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002016427204339 + 36.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002016427204339[0m ×2 + 36.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002331235577964 + 36.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002331235577964[0m ×2 + 36.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000982040001786 + 36.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000982040001786[0m ×2 + 36.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001617524912350 + 36.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001617524912350[0m ×2 + 36.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001825968645281 + 36.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001825968645281[0m ×2 + 36.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002024070929513 + 36.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002024070929513[0m ×2 + 36.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002220115289672 + 36.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002220115289672[0m ×2 + 36.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002660584127019 + 36.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002660584127019[0m ×2 + 36.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001337359192769 + 36.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001337359192769[0m ×2 + 36.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002197030788621 + 36.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002197030788621[0m ×2 + 36.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001580883358135 + 36.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001580883358135[0m ×2 + 36.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003487853010525 + 36.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003487853010525[0m ×2 + 36.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003492691329476 + 36.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003492691329476[0m ×2 + 36.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003469951417078 + 36.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003469951417078[0m ×2 + 36.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003177003574288 + 36.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003177003574288[0m ×2 + 36.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003285676518660 + 36.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003285676518660[0m ×2 + 36.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003285844342629 + 36.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003285844342629[0m ×2 + 36.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006841524363483 + 36.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006841524363483[0m ×2 + 36.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003512055343722 ×2 + 36.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003512055343722[0m ×4 + 36.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001379333868931 + 36.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001379333868931[0m ×2 + 36.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000147781052649 + 36.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000147781052649[0m ×2 + 36.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002618765443603 + 36.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002618765443603[0m ×2 + 36.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000919081082969 ×2 + 36.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000919081082969[0m ×4 + 36.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077335502860 + 36.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077335502860[0m ×2 + 36.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000074085359637 + 36.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000074085359637[0m ×2 + 36.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001457396545421 + 36.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001457396545421[0m ×2 + 36.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002385612016442 + 36.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002385612016442[0m ×2 + 36.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002385599107314 + 36.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002385599107314[0m ×2 + 36.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002973451867096 + 36.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002973451867096[0m ×2 + 36.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002667756281945 + 36.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002667756281945[0m ×2 + 36.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002816097637985 + 36.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002816097637985[0m ×2 + 36.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004488847654843 + 36.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004488847654843[0m ×2 + 36.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002562274704136 + 36.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002562274704136[0m ×2 + 36.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004181602042695 + 36.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004181602042695[0m ×2 + 36.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000554902098558 + 36.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000554902098558[0m ×2 + 36.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002070765410972 + 36.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002070765410972[0m ×2 + 36.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000669108522259 + 36.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000669108522259[0m ×2 + 36.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000669035507039 + 36.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000669035507039[0m ×2 + 36.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000144424152032 ×2 + 36.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000144424152032[0m ×4 + 36.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000843740353043 + 36.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000843740353043[0m ×2 + 36.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001753454715100 + 36.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001753454715100[0m ×2 + 36.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001868400749164 + 36.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001868400749164[0m ×2 + 36.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003125056319080 + 36.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003125056319080[0m ×2 + 36.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003677953936317 + 36.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003677953936317[0m ×2 + 36.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003572620676587 + 36.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003572620676587[0m ×2 + 36.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001607726016004 + 36.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001607726016004[0m ×2 + 36.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002303437739413 + 36.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002303437739413[0m ×2 + 36.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000958881722857 ×2 + 36.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000958881722857[0m ×4 + 36.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000142928990090 + 36.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000142928990090[0m ×2 + 36.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000142947969063 + 36.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000142947969063[0m ×2 + 36.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002722445541382 + 36.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002722445541382[0m ×2 + 36.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003290220303509 + 36.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003290220303509[0m ×2 + 36.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003872397880975 + 36.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003872397880975[0m ×2 + 36.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003755830868716 + 36.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003755830868716[0m ×2 + 36.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002940157906555 + 36.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002940157906555[0m ×2 + 37.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005276712284714 + 37.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005276712284714[0m ×2 + 37.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002580568665638 + 37.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002580568665638[0m ×2 + 37.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002940680252465 + 37.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002940680252465[0m ×2 + 37.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001129242042599 + 37.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001129242042599[0m ×2 + 37.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002104632380587 + 37.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002104632380587[0m ×2 + 37.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002445757291827 + 37.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002445757291827[0m ×2 + 37.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000909142535498 + 37.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000909142535498[0m ×2 + 37.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000862646610262 + 37.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000862646610262[0m ×2 + 37.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029915259087 + 37.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029915259087[0m ×2 + 37.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000498661062725 ×2 + 37.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000498661062725[0m ×4 + 37.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001439797723519 + 37.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001439797723519[0m ×2 + 37.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003756266061274 + 37.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003756266061274[0m ×2 + 37.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003837171553951 + 37.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003837171553951[0m ×2 + 37.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002071200628803 + 37.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002071200628803[0m ×2 + 37.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002077380033583 + 37.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002077380033583[0m ×2 + 37.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001937506534116 + 37.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001937506534116[0m ×2 + 37.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002622282009571 + 37.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002622282009571[0m ×2 + 37.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003478743071016 + 37.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003478743071016[0m ×2 + 37.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003456438656625 + 37.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003456438656625[0m ×2 + 37.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001644108842414 + 37.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001644108842414[0m ×2 + 37.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004697450099013 + 37.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004697450099013[0m ×2 + 37.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003954510395897 + 37.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003954510395897[0m ×2 + 37.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003389772293213 + 37.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003389772293213[0m ×2 + 37.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172366993583 + 37.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172366993583[0m ×2 + 37.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004125885933860 + 37.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004125885933860[0m ×2 + 37.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004059655610620 + 37.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004059655610620[0m ×2 + 37.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004281720869498 + 37.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004281720869498[0m ×2 + 37.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005175129442185 + 37.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005175129442185[0m ×2 + 37.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002422893432700 ×2 + 37.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002422893432700[0m ×4 + 37.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000710450188542 + 37.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000710450188542[0m ×2 + 37.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000268646664485 + 37.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000268646664485[0m ×2 + 37.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000304314902488 + 37.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000304314902488[0m ×2 + 37.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000898180952541 + 37.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000898180952541[0m ×2 + 37.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001114144237481 + 37.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001114144237481[0m ×2 + 37.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000954721851169 + 37.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000954721851169[0m ×2 + 37.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000929888923803 + 37.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000929888923803[0m ×2 + 37.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001739502477066 + 37.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001739502477066[0m ×2 + 37.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000915928778930 + 37.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000915928778930[0m ×2 + 37.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000386070849729 + 37.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000386070849729[0m ×2 + 37.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002505737139505 + 37.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002505737139505[0m ×2 + 37.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001329103088798 + 37.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001329103088798[0m ×2 + 37.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000566734877723 + 37.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000566734877723[0m ×2 + 37.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000566758595910 + 37.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000566758595910[0m ×2 + 37.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001816916531144 + 37.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001816916531144[0m ×2 + 37.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000870431442179 + 37.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000870431442179[0m ×2 + 37.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000834479982069 + 37.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000834479982069[0m ×2 + 37.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014992827035238 + 37.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014992827035238[0m ×2 + 37.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015351349110671 + 37.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015351349110671[0m ×2 + 37.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009598916074448 + 37.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009598916074448[0m ×2 + 37.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010052485998673 + 37.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010052485998673[0m ×2 + 37.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005812172434379 + 37.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005812172434379[0m ×2 + 37.40sWARNcontroller_managerOverrun might occur, Total time : 3074.457 us (Expected < 1666.667 us) --> Read time : 80.104 us, Update time : 2682.048 us, Write time : 312.305 us + 37.41sWARNros2_control_nodeOverrun might occur, Total time : 3074.457 us (Expected < 1666.667 us) --> Read time : 80.104 us, Update time : 2682.048 us, Write time : 312.305 us[0m ×2 + 37.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003358981511723 + 37.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003358981511723[0m ×2 + 37.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000567640302966 + 37.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000567640302966[0m ×2 + 37.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000146760295313 + 37.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000146760295313[0m ×2 + 37.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000799633213656 + 37.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000799633213656[0m ×2 + 37.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002334279936237 + 37.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002334279936237[0m ×2 + 37.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002335167125667 + 37.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002335167125667[0m ×2 + 37.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365227 ms (missed cycles : 3). + 37.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365227 ms (missed cycles : 3).[0m ×2 + 37.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003610066248027 + 37.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003610066248027[0m ×2 + 37.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004462895885239 + 37.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004462895885239[0m ×2 + 37.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003575648994151 + 37.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003575648994151[0m ×2 + 37.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003115588619778 + 37.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003115588619778[0m ×2 + 37.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002822058340864 + 37.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002822058340864[0m ×2 + 37.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003634444258633 + 37.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003634444258633[0m ×2 + 37.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003120471677820 + 37.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003120471677820[0m ×2 + 37.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003558840289434 + 37.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003558840289434[0m ×2 + 37.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003053005643077 + 37.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003053005643077[0m ×2 + 37.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003491307210569 + 37.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003491307210569[0m ×2 + 37.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002997254696294 + 37.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002997254696294[0m ×2 + 37.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002697637979589 + 37.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002697637979589[0m ×2 + 37.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002532501503030 + 37.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002532501503030[0m ×2 + 37.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003346212089237 + 37.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003346212089237[0m ×2 + 37.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002927360706179 + 37.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002927360706179[0m ×2 + 37.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002674035012256 + 37.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002674035012256[0m ×2 + 37.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003484846103566 + 37.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003484846103566[0m ×2 + 37.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003005335895046 + 37.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003005335895046[0m ×2 + 37.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003441758538667 + 37.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003441758538667[0m ×2 + 37.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002970568301854 + 37.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002970568301854[0m ×2 + 37.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003406469542169 + 37.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003406469542169[0m ×2 + 37.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002936430145583 + 37.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002936430145583[0m ×2 + 37.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003371813578661 + 37.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003371813578661[0m ×2 + 37.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002908112961674 + 37.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002908112961674[0m ×2 + 37.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003345193844077 + 37.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003345193844077[0m ×2 + 37.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002527494306293 + 37.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002527494306293[0m ×2 + 37.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002763300109811 + 37.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002763300109811[0m ×2 + 37.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003996726516187 + 37.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003996726516187[0m ×2 + 37.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003402445843716 + 37.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003402445843716[0m ×2 + 37.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004192536069274 + 37.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004192536069274[0m ×2 + 37.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003465094873362 + 37.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003465094873362[0m ×2 + 37.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003891705913790 + 37.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003891705913790[0m ×2 + 37.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003239293215324 + 37.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003239293215324[0m ×2 + 37.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003666142934271 + 37.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003666142934271[0m ×2 + 37.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003077415038942 + 37.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003077415038942[0m ×2 + 37.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003504582537705 + 37.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003504582537705[0m ×2 + 37.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967316726960 + 37.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967316726960[0m ×2 + 37.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002652162698128 + 37.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002652162698128[0m ×2 + 37.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758840601738 + 37.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758840601738[0m ×2 + 37.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003141921312976 + 37.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003141921312976[0m ×2 + 37.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003566270404707 + 37.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003566270404707[0m ×2 + 37.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003014395723314 + 37.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003014395723314[0m ×2 + 37.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003439626311527 + 37.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003439626311527[0m ×2 + 37.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002932774220007 + 37.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002932774220007[0m ×2 + 37.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003358521376332 + 37.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003358521376332[0m ×2 + 37.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003053336087995 + 37.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003053336087995[0m ×2 + 37.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004018484497568 + 37.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004018484497568[0m ×2 + 37.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003321447628633 + 37.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003321447628633[0m ×2 + 37.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002881854191363 + 37.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002881854191363[0m ×2 + 37.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003877756707192 + 37.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003877756707192[0m ×2 + 37.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003999363159256 + 37.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003999363159256[0m ×2 + 37.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003282409758308 + 37.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003282409758308[0m ×2 + 37.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003700227016349 + 37.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003700227016349[0m ×2 + 37.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003082943390638 + 37.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003082943390638[0m ×2 + 37.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501939811922 + 37.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501939811922[0m ×2 + 37.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002957538464412 + 37.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002957538464412[0m ×2 + 37.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003377183700394 + 37.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003377183700394[0m ×2 + 37.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002883789249966 + 37.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002883789249966[0m ×2 + 37.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003659807566090 + 37.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003659807566090[0m ×2 + 37.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003052338669477 + 37.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003052338669477[0m ×2 + 37.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003471075169742 + 37.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003471075169742[0m ×2 + 37.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002934602930978 + 37.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002934602930978[0m ×2 + 37.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003353526438927 + 37.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003353526438927[0m ×2 + 37.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866651123728 + 37.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866651123728[0m ×2 + 37.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003640688613419 + 37.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003640688613419[0m ×2 + 37.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003038746910117 + 37.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003038746910117[0m ×2 + 37.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002680656313210 + 37.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002680656313210[0m ×2 + 37.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003454647434023 + 37.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003454647434023[0m ×2 + 37.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002939090083566 + 37.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002939090083566[0m ×2 + 37.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709337632621 + 37.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709337632621[0m ×2 + 37.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003085694144922 + 37.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003085694144922[0m ×2 + 37.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002467489372624 + 37.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002467489372624[0m ×2 + 37.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002884138896620 + 37.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002884138896620[0m ×2 + 37.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995933708522 + 37.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995933708522[0m ×2 + 37.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004745997063258 + 38.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004745997063258[0m ×2 + 38.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003612519263402 + 38.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003612519263402[0m ×2 + 38.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004291739118059 + 38.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004291739118059[0m ×2 + 38.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003470213736084 + 38.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003470213736084[0m ×2 + 38.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004143019121832 + 38.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004143019121832[0m ×2 + 38.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004359435393562 + 38.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004359435393562[0m ×2 + 38.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003462766342346 + 38.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003462766342346[0m ×2 + 38.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004100506323293 + 38.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004100506323293[0m ×2 + 38.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004134713500684 + 38.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004134713500684[0m ×2 + 38.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003298614804378 + 38.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003298614804378[0m ×2 + 38.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003701100769665 + 38.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003701100769665[0m ×2 + 38.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003029576497140 + 38.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003029576497140[0m ×2 + 38.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003776775791274 + 38.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003776775791274[0m ×2 + 38.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003077269639580 + 38.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003077269639580[0m ×2 + 38.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003481751810175 + 38.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003481751810175[0m ×2 + 38.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002903226384698 + 38.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002903226384698[0m ×2 + 38.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003652312083812 + 38.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003652312083812[0m ×2 + 38.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002491067514045 + 38.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002491067514045[0m ×2 + 38.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003693837252465 + 38.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003693837252465[0m ×2 + 38.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.37% of iterations over budget over 3:10.009 of wall time (215/58605). Below 1% is expected on a non-realtime system.[0m ×2 + 38.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357847693751 + 38.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357847693751[0m ×2 + 38.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005082970261935 + 38.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005082970261935[0m ×2 + 38.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003967200359717 + 38.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003967200359717[0m ×2 + 38.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694954425782 + 38.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694954425782[0m ×2 + 38.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003666303499284 + 38.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003666303499284[0m ×2 + 38.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004185782529250 + 38.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004185782529250[0m ×2 + 38.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004300080236967 + 38.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004300080236967[0m ×2 + 38.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003379679604794 + 38.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003379679604794[0m ×2 + 38.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003773369523683 + 38.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003773369523683[0m ×2 + 38.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003052149845008 + 38.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003052149845008[0m ×2 + 38.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003783301755280 + 38.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003783301755280[0m ×2 + 38.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003062178494266 + 38.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003062178494266[0m ×2 + 38.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003793767120297 + 38.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003793767120297[0m ×2 + 38.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003064235073746 + 38.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003064235073746[0m ×2 + 38.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003788602820791 + 38.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003788602820791[0m ×2 + 38.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004287339434898 + 38.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004287339434898[0m ×2 + 38.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004400375430771 + 38.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004400375430771[0m ×2 + 38.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003467929212831 + 38.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003467929212831[0m ×2 + 38.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004188285572567 + 38.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004188285572567[0m ×2 + 38.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003317816552211 + 38.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003317816552211[0m ×2 + 38.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004040073711675 + 38.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004040073711675[0m ×2 + 38.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003215728615703 + 38.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003215728615703[0m ×2 + 38.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938604335611 + 38.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938604335611[0m ×2 + 38.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003148390606986 + 38.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003148390606986[0m ×2 + 38.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002857814713223 + 38.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002857814713223[0m ×2 + 38.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003574981530151 + 38.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003574981530151[0m ×2 + 38.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169043930236 + 38.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169043930236[0m ×2 + 38.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004550010632779 + 38.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004550010632779[0m ×2 + 38.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003577779239329 + 38.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003577779239329[0m ×2 + 38.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004112885978441 + 38.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004112885978441[0m ×2 + 38.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004404003567325 + 38.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004404003567325[0m ×2 + 38.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463777208883 + 38.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463777208883[0m ×2 + 38.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003462289010447 + 38.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003462289010447[0m ×2 + 38.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003992146364927 + 38.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003992146364927[0m ×2 + 38.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369061424099 + 38.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369061424099[0m ×2 + 38.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003394359416797 + 38.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003394359416797[0m ×2 + 38.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004097700301529 + 38.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004097700301529[0m ×2 + 38.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003104246220627 + 38.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003104246220627[0m ×2 + 38.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004396808172930 + 38.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004396808172930[0m ×2 + 38.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003450776064058 + 38.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003450776064058[0m ×2 + 38.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004003051717463 + 38.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004003051717463[0m ×2 + 38.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004376309603260 + 38.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004376309603260[0m ×2 + 38.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003415177291249 + 38.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003415177291249[0m ×2 + 38.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003958462281453 + 38.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003958462281453[0m ×2 + 38.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004329973913634 + 38.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004329973913634[0m ×2 + 38.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003374669037210 + 38.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003374669037210[0m ×2 + 38.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004067992260881 + 38.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004067992260881[0m ×2 + 38.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004322619335025 + 38.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004322619335025[0m ×2 + 38.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354251310887 + 38.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354251310887[0m ×2 + 38.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003361851620529 + 38.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003361851620529[0m ×2 + 38.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004052017046820 + 38.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004052017046820[0m ×2 + 38.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003175609949097 + 38.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003175609949097[0m ×2 + 38.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003868396279592 + 38.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003868396279592[0m ×2 + 38.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350002 ms (missed cycles : 5). + 38.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350002 ms (missed cycles : 5).[0m ×2 + 38.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184825811652 + 38.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184825811652[0m ×2 + 38.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002439873877508 + 38.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002439873877508[0m ×2 + 38.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003129577405830 + 38.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003129577405830[0m ×2 + 38.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003882157944725 + 38.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003882157944725[0m ×2 + 38.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004290745253565 + 38.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004290745253565[0m ×2 + 38.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005525964167438 + 38.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005525964167438[0m ×2 + 38.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004157303645165 + 38.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004157303645165[0m ×2 + 38.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004828642706822 + 38.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004828642706822[0m ×2 + 38.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004747548022220 + 38.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004747548022220[0m ×2 + 38.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004764210868740 + 38.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004764210868740[0m ×2 + 38.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003590912456402 + 38.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003590912456402[0m ×2 + 38.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003961426369095 + 38.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003961426369095[0m ×2 + 38.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004176342058573 + 38.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004176342058573[0m ×2 + 38.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004533377888776 + 38.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004533377888776[0m ×2 + 38.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003443140375983 + 38.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003443140375983[0m ×2 + 38.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004111326818152 + 38.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004111326818152[0m ×2 + 38.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004262761489795 + 38.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004262761489795[0m ×2 + 38.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004366943301757 + 38.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004366943301757[0m ×2 + 38.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003328662664706 + 38.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003328662664706[0m ×2 + 38.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002294308988508 + 38.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002294308988508[0m ×2 + 38.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003386649572982 + 38.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003386649572982[0m ×2 + 38.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004598244904408 + 38.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004598244904408[0m ×2 + 38.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004706959137834 + 38.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004706959137834[0m ×2 + 38.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004701791769702 + 38.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004701791769702[0m ×2 + 38.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005345540614664 + 38.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005345540614664[0m ×2 + 38.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005026963994464 + 38.68sWARNcontroller_managerOverrun might occur, Total time : 4417.631 us (Expected < 1666.667 us) --> Read time : 161.758 us, Update time : 3800.201 us, Write time : 455.672 us + 38.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005026963994464[0m ×2 + 38.68sWARNros2_control_nodeOverrun might occur, Total time : 4417.631 us (Expected < 1666.667 us) --> Read time : 161.758 us, Update time : 3800.201 us, Write time : 455.672 us[0m ×2 + 38.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004776830863402 + 38.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004776830863402[0m ×2 + 38.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003175945379414 + 38.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003175945379414[0m ×2 + 38.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004367029348178 + 38.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004367029348178[0m ×2 + 38.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004388006118244 + 38.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004388006118244[0m ×2 + 38.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004381087823882 + 38.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004381087823882[0m ×2 + 38.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004724503119872 + 38.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004724503119872[0m ×2 + 38.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004565382016519 + 38.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004565382016519[0m ×2 + 38.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004665576365366 + 38.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004665576365366[0m ×2 + 38.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004508253472618 + 38.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004508253472618[0m ×2 + 38.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004398702409532 + 38.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004398702409532[0m ×2 + 38.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004452649245037 + 38.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004452649245037[0m ×2 + 38.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357331091963 + 38.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357331091963[0m ×2 + 38.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004295345888748 + 38.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004295345888748[0m ×2 + 38.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004256311727861 + 38.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004256311727861[0m ×2 + 38.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004439039874115 + 38.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004439039874115[0m ×2 + 38.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340736543047 + 38.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340736543047[0m ×2 + 38.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004394068098955 + 38.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004394068098955[0m ×2 + 38.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004308389314438 + 38.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004308389314438[0m ×2 + 38.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004406650551490 + 38.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004406650551490[0m ×2 + 38.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004311539798628 + 38.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004311539798628[0m ×2 + 38.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004409490599639 + 38.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004409490599639[0m ×2 + 38.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004308531487762 + 38.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004308531487762[0m ×2 + 38.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004406171926048 + 38.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004406171926048[0m ×2 + 38.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002346240236751 + 38.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002346240236751[0m ×2 + 38.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003510414074718 + 38.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003510414074718[0m ×2 + 38.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005791612444262 + 38.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005791612444262[0m ×2 + 38.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005171190156815 + 38.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005171190156815[0m ×2 + 38.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005346835379539 + 38.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005346835379539[0m ×2 + 38.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004887592754692 + 38.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004887592754692[0m ×2 + 38.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005063921690400 + 38.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005063921690400[0m ×2 + 38.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004682710028474 + 38.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004682710028474[0m ×2 + 38.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004858803817684 + 38.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004858803817684[0m ×2 + 38.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004533561694973 + 38.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004533561694973[0m ×2 + 38.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004709230343525 + 38.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004709230343525[0m ×2 + 38.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428243024630 + 38.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428243024630[0m ×2 + 38.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603440379117 + 38.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603440379117[0m ×2 + 38.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004356514626985 + 38.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004356514626985[0m ×2 + 38.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004205083115318 + 38.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004205083115318[0m ×2 + 38.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117489960476 + 38.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117489960476[0m ×2 + 38.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004710945566643 + 38.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004710945566643[0m ×2 + 38.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004423549435199 + 38.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004423549435199[0m ×2 + 38.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004596493422800 + 38.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004596493422800[0m ×2 + 38.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344857612492 + 38.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344857612492[0m ×2 + 38.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004517277909964 + 38.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004517277909964[0m ×2 + 38.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004290697351917 + 38.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004290697351917[0m ×2 + 38.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002267882448597 + 38.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002267882448597[0m ×2 + 39.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003378130537130 + 39.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003378130537130[0m ×2 + 39.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005553747171770 + 39.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005553747171770[0m ×2 + 39.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004956638104292 + 39.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004956638104292[0m ×2 + 39.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005527448944308 + 39.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005527448944308[0m ×2 + 39.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004936579726868 + 39.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004936579726868[0m ×2 + 39.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005509142911085 + 39.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005509142911085[0m ×2 + 39.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004881649776642 + 39.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004881649776642[0m ×2 + 39.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048883685051 + 39.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048883685051[0m ×2 + 39.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004565717398078 + 39.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004565717398078[0m ×2 + 39.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004257484279555 + 39.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004257484279555[0m ×2 + 39.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004826086624593 + 39.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004826086624593[0m ×2 + 39.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004411327239435 + 39.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004411327239435[0m ×2 + 39.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004717702302179 + 39.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004717702302179[0m ×2 + 39.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004338320102847 + 39.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004338320102847[0m ×2 + 39.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004643719546530 + 39.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004643719546530[0m ×2 + 39.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004289291758772 + 39.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004289291758772[0m ×2 + 39.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004593645655659 + 39.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004593645655659[0m ×2 + 39.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004256548745111 + 39.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004256548745111[0m ×2 + 39.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004559815058775 + 39.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004559815058775[0m ×2 + 39.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004234315507365 + 39.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004234315507365[0m ×2 + 39.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004792622061739 + 39.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004792622061739[0m ×2 + 39.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004371221640581 + 39.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004371221640581[0m ×2 + 39.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004671940334543 + 39.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004671940334543[0m ×2 + 39.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004290508302051 + 39.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004290508302051[0m ×2 + 39.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004590161204502 + 39.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004590161204502[0m ×2 + 39.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004149779611465 + 39.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004149779611465[0m ×2 + 39.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005362665473917 + 39.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005362665473917[0m ×2 + 39.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004853341376203 + 39.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004853341376203[0m ×2 + 39.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004455290594822 + 39.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004455290594822[0m ×2 + 39.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005814806872005 + 39.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005814806872005[0m ×2 + 39.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004912828507976 + 39.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004912828507976[0m ×2 + 39.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005424427907765 + 39.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005424427907765[0m ×2 + 39.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004672267764864 + 39.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004672267764864[0m ×2 + 39.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005200433598299 + 39.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005200433598299[0m ×2 + 39.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004552964286784 + 39.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004552964286784[0m ×2 + 39.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004149399696985 + 39.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004149399696985[0m ×2 + 39.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005125934114020 + 39.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005125934114020[0m ×2 + 39.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004491456730641 + 39.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004491456730641[0m ×2 + 39.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005016626818127 + 39.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005016626818127[0m ×2 + 39.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004410439373786 + 39.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004410439373786[0m ×2 + 39.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004933575426751 + 39.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004933575426751[0m ×2 + 39.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004349108688578 + 39.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004349108688578[0m ×2 + 39.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004870054211528 + 39.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004870054211528[0m ×2 + 39.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004303163002050 + 39.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004303163002050[0m ×2 + 39.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003958475840638 + 39.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003958475840638[0m ×2 + 39.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330887476813 + 39.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330887476813[0m ×2 + 39.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005331451402972 + 39.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005331451402972[0m ×2 + 39.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004656992117051 + 39.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004656992117051[0m ×2 + 39.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005751759258090 + 39.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005751759258090[0m ×2 + 39.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005763848213951 + 39.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005763848213951[0m ×2 + 39.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004776517703174 + 39.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004776517703174[0m ×2 + 39.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005273943160607 + 39.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005273943160607[0m ×2 + 39.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004501184535755 + 39.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004501184535755[0m ×2 + 39.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005000321042448 + 39.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005000321042448[0m ×2 + 39.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004325677473044 + 39.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004325677473044[0m ×2 + 39.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004823360297900 + 39.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004823360297900[0m ×2 + 39.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004211364271159 + 39.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004211364271159[0m ×2 + 39.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005127249758600 + 39.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005127249758600[0m ×2 + 39.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004389854005834 + 39.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004389854005834[0m ×2 + 39.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004320157851226 + 39.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004320157851226[0m ×2 + 39.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005143678821905 + 39.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005143678821905[0m ×2 + 39.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369999583177 + 39.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369999583177[0m ×2 + 39.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005258963646318 + 39.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005258963646318[0m ×2 + 39.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004488659283809 + 39.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004488659283809[0m ×2 + 39.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005380665453746 + 39.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005380665453746[0m ×2 + 39.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004541936201557 + 39.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004541936201557[0m ×2 + 39.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005022363946132 + 39.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005022363946132[0m ×2 + 39.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004300689644390 + 39.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004300689644390[0m ×2 + 39.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005185004688787 + 39.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005185004688787[0m ×2 + 39.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004498424473659 + 39.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004498424473659[0m ×2 + 39.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005196754671561 + 39.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005196754671561[0m ×2 + 39.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005664939581490 + 39.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005664939581490[0m ×2 + 39.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004707932171513 + 39.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004707932171513[0m ×2 + 39.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005176081217408 + 39.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005176081217408[0m ×2 + 39.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938835 ms (missed cycles : 2). + 39.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004373596378685 + 39.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938835 ms (missed cycles : 2).[0m ×2 + 39.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004373596378685[0m ×2 + 39.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005308005785732 + 39.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005308005785732[0m ×2 + 39.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004356199881813 + 39.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004356199881813[0m ×2 + 39.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005200024752417 + 39.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005200024752417[0m ×2 + 39.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004341632032362 + 39.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004341632032362[0m ×2 + 39.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005235706338356 + 39.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005235706338356[0m ×2 + 39.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005468691449254 + 39.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005468691449254[0m ×2 + 39.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004436562863335 + 39.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004436562863335[0m ×2 + 39.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005266769103783 + 39.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005266769103783[0m ×2 + 39.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004355194528870 + 39.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004355194528870[0m ×2 + 39.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005196710823383 + 39.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005196710823383[0m ×2 + 39.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004232718797220 + 39.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004232718797220[0m ×2 + 39.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048184732578 + 39.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048184732578[0m ×2 + 39.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004203738573537 + 39.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004203738573537[0m ×2 + 39.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005072895882064 + 39.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005072895882064[0m ×2 + 39.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005427442410837 + 39.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005427442410837[0m ×2 + 39.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005447203301756 + 39.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005447203301756[0m ×2 + 39.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004417141613744 + 39.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004417141613744[0m ×2 + 39.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005218149859381 + 39.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005218149859381[0m ×2 + 39.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004281741959719 + 39.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004281741959719[0m ×2 + 39.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005080856452221 + 39.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005080856452221[0m ×2 + 39.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004187891106757 + 39.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004187891106757[0m ×2 + 39.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004982608689366 + 39.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004982608689366[0m ×2 + 39.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004120365014351 + 39.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004120365014351[0m ×2 + 39.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004910395658927 + 39.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004910395658927[0m ×2 + 39.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071275086368 + 39.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071275086368[0m ×2 + 39.68sWARNcontroller_managerOverrun might occur, Total time : 2099.510 us (Expected < 1666.667 us) --> Read time : 170.868 us, Update time : 713.994 us, Write time : 1214.648 us + 39.68sWARNros2_control_nodeOverrun might occur, Total time : 2099.510 us (Expected < 1666.667 us) --> Read time : 170.868 us, Update time : 713.994 us, Write time : 1214.648 us[0m ×2 + 39.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004890385420878 + 39.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004890385420878[0m ×2 + 39.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003970600633957 + 39.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003970600633957[0m ×2 + 39.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005298950521860 + 39.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005298950521860[0m ×2 + 39.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005595407236302 + 39.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005595407236302[0m ×2 + 39.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004451855626868 + 39.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004451855626868[0m ×2 + 39.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005206445693976 + 39.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005206445693976[0m ×2 + 39.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005488337846250 + 39.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005488337846250[0m ×2 + 39.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005549583780830 + 39.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005549583780830[0m ×2 + 39.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004359540913682 + 39.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004359540913682[0m ×2 + 39.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004924135119286 + 39.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004924135119286[0m ×2 + 39.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005304158659514 + 39.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005304158659514[0m ×2 + 39.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004203880033757 + 39.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004203880033757[0m ×2 + 39.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004814348750403 + 39.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004814348750403[0m ×2 + 39.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048092400645 + 39.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048092400645[0m ×2 + 39.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005431210179402 + 39.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005431210179402[0m ×2 + 39.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004303456478455 + 39.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004303456478455[0m ×2 + 39.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005026969537126 + 39.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005026969537126[0m ×2 + 39.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005270904656616 + 39.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005270904656616[0m ×2 + 39.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003930997747032 + 39.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003930997747032[0m ×2 + 39.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004426436073390 + 39.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004426436073390[0m ×2 + 39.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004872340383619 + 39.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004872340383619[0m ×2 + 39.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048270525573 + 39.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048270525573[0m ×2 + 39.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005721323460971 + 39.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005721323460971[0m ×2 + 39.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005601864352456 + 39.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005601864352456[0m ×2 + 39.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005598559128144 + 39.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005598559128144[0m ×2 + 39.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284022369226 + 39.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284022369226[0m ×2 + 39.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003854038547669 + 39.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003854038547669[0m ×2 + 39.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005121096195018 + 39.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005121096195018[0m ×2 + 39.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005287991125102 + 39.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005287991125102[0m ×2 + 39.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006461897236166 + 39.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006461897236166[0m ×2 + 39.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004928149629148 + 39.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004928149629148[0m ×2 + 39.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005589736975123 + 39.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005589736975123[0m ×2 + 39.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005433563790981 + 39.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005433563790981[0m ×2 + 40.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.561212 ms (missed cycles : 4). + 40.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.561212 ms (missed cycles : 4).[0m ×2 + 40.94sWARNcontroller_managerOverrun might occur, Total time : 1777.114 us (Expected < 1666.667 us) --> Read time : 1247.839 us, Update time : 100.205 us, Write time : 429.070 us + 40.94sWARNros2_control_nodeOverrun might occur, Total time : 1777.114 us (Expected < 1666.667 us) --> Read time : 1247.839 us, Update time : 100.205 us, Write time : 429.070 us[0m ×2 + 41.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000513 ms (missed cycles : 4). + 41.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000513 ms (missed cycles : 4).[0m ×2 + 41.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000485427157 + 41.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000485427157[0m ×2 + 41.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000200475031 + 41.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000200475031[0m ×2 + 41.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042544371658 + 41.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042544371658[0m ×2 + 41.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.514067382680807 ×2 + 41.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.514067382680807[0m ×4 + 41.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.222860413417788 ×2 + 41.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.222860413417788[0m ×4 + 41.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.196466704586577 + 41.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.196466704586577[0m ×2 + 41.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.112817209790315 + 41.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.112817209790315[0m ×2 + 41.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.649975425717869 + 41.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.649975425717869[0m ×2 + 41.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.349861369914837 ×2 + 41.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.349861369914837[0m ×4 + 41.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.881130850467922 ×2 + 41.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.881130850467922[0m ×4 + 41.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.815754036316121 ×2 + 41.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.815754036316121[0m ×4 + 41.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.631736590514683 ×2 + 41.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.631736590514683[0m ×4 + 41.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.405017899832646 + 41.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.405017899832646[0m ×2 + 41.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.856922142999618 ×2 + 41.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.856922142999618[0m ×4 + 41.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.367989274023586 ×2 + 41.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.367989274023586[0m ×4 + 41.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.915355428756119 + 41.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.915355428756119[0m ×2 + 41.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.101124512998881 + 41.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.101124512998881[0m ×2 + 41.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.115027677033163 + 41.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.115027677033163[0m ×2 + 41.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.788163302776383 + 41.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.788163302776383[0m ×2 + 41.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.435289403311200 ×2 + 41.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.435289403311200[0m ×4 + 41.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.448652582330492 + 41.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.448652582330492[0m ×2 + 41.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.744775432380955 ×2 + 41.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.744775432380955[0m ×4 + 41.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.825638377442313 ×2 + 41.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.825638377442313[0m ×4 + 41.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.337111859896833 ×2 + 41.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.337111859896833[0m ×4 + 41.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.179034448990986 ×2 + 41.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.179034448990986[0m ×4 + 41.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.940333144717204 + 41.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.940333144717204[0m ×2 + 41.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.017874381252070 + 41.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.017874381252070[0m ×2 + 41.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.401837505404494 ×2 + 41.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.401837505404494[0m ×4 + 41.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.136285791091662 ×2 + 41.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.136285791091662[0m ×4 + 41.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.831078583249287 ×2 + 41.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.831078583249287[0m ×4 + 41.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.466321025674434 ×2 + 41.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.466321025674434[0m ×4 + 41.99sWARNcontroller_managerOverrun might occur, Total time : 4431.352 us (Expected < 1666.667 us) --> Read time : 163.488 us, Update time : 3805.772 us, Write time : 462.092 us + 42.00sWARNros2_control_nodeOverrun might occur, Total time : 4431.352 us (Expected < 1666.667 us) --> Read time : 163.488 us, Update time : 3805.772 us, Write time : 462.092 us[0m ×2 + 42.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.318007654874217 ×2 + 42.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.318007654874217[0m ×4 + 42.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.898469627415215 + 42.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.898469627415215[0m ×2 + 42.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.500845295772018 ×2 + 42.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.500845295772018[0m ×4 + 42.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.269324323259706 ×2 + 42.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.269324323259706[0m ×4 + 42.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.299793484242365 + 42.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.299793484242365[0m ×2 + 42.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.336421486410416 ×2 + 42.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.336421486410416[0m ×4 + 42.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.057384597609868 + 42.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.057384597609868[0m ×2 + 42.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.300542648752106 + 42.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.300542648752106[0m ×2 + 42.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.861429474017037 ×2 + 42.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.861429474017037[0m ×4 + 42.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.681422336969124 ×2 + 42.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.681422336969124[0m ×4 + 42.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.528513380776033 + 42.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.528513380776033[0m ×2 + 42.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.284838751468300 + 42.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.284838751468300[0m ×2 + 42.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.173420263838640 + 42.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.173420263838640[0m ×2 + 42.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.061688873142202 ×2 + 42.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.061688873142202[0m ×4 + 42.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.045280651647516 + 42.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.045280651647516[0m ×2 + 42.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.949392807667056 + 42.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.949392807667056[0m ×2 + 42.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.714167075729080 + 42.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.714167075729080[0m ×2 + 42.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.973792741192517 + 42.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.973792741192517[0m ×2 + 42.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.505010670217052 + 42.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.505010670217052[0m ×2 + 42.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.087943385057349 + 42.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.087943385057349[0m ×2 + 42.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.087943385057358 + 42.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.087943385057358[0m ×2 + 42.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.780244479072092 + 42.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.780244479072092[0m ×2 + 42.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.525033709809847 ×2 + 42.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.525033709809847[0m ×4 + 42.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.315941958017860 ×2 + 42.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.315941958017860[0m ×4 + 42.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.114084692234210 ×2 + 42.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.114084692234210[0m ×4 + 42.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.204038661790970 + 42.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.204038661790970[0m ×2 + 42.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.036046123106040 ×2 + 42.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.036046123106040[0m ×4 + 42.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.033133230792920 ×2 + 42.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.033133230792920[0m ×4 + 42.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.011803489921230 ×2 + 42.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.011803489921230[0m ×4 + 42.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003635307970850 ×2 + 42.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003635307970850[0m ×4 + 42.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009815744142049 ×2 + 42.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009815744142049[0m ×4 + 42.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011042512129458 + 42.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011042512129458[0m ×2 + 42.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007912567522733 + 42.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007912567522733[0m ×2 + 42.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000814047060916 + 42.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000814047060916[0m ×2 + 42.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000814047060921 + 42.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000814047060921[0m ×2 + 42.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004162674406115 ×2 + 42.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004162674406115[0m ×4 + 42.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.010507799419861 ×2 + 42.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.010507799419861[0m ×4 + 42.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005257223278080 + 42.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005257223278080[0m ×2 + 42.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005257223278079 + 42.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005257223278079[0m ×2 + 42.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.885432056741301 ×2 + 42.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.885432056741301[0m ×4 + 42.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.308164137707021 ×2 + 42.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.308164137707021[0m ×4 + 42.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.330056231575366 ×2 + 42.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.330056231575366[0m ×4 + 42.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.386915344767903 ×2 + 42.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.386915344767903[0m ×4 + 42.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.453543223911499 ×2 + 42.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.453543223911499[0m ×4 + 42.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.570039935338500 ×2 + 42.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.570039935338500[0m ×4 + 42.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.691006534709214 + 42.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.691006534709214[0m ×2 + 42.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.341502337732980 + 42.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.341502337732980[0m ×2 + 42.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.183689364378800 + 42.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.183689364378800[0m ×2 + 42.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.183689364378797 + 42.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.183689364378797[0m ×2 + 42.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.333161752895631 ×2 + 42.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.333161752895631[0m ×4 + 42.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.687268017194437 + 42.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.687268017194437[0m ×2 + 42.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.380037079820710 ×2 + 42.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.380037079820710[0m ×4 + 42.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.313088702398197 ×2 + 42.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.313088702398197[0m ×4 + 42.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.403636374004776 ×2 + 42.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.403636374004776[0m ×4 + 42.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.247611799803273 ×2 + 42.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.247611799803273[0m ×4 + 42.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.061106716134425 + 42.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.061106716134425[0m ×2 + 42.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.959767732432734 ×2 + 42.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.959767732432734[0m ×4 + 42.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.911216530046950 ×2 + 42.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.911216530046950[0m ×4 + 42.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.401265802713663 ×2 + 42.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.401265802713663[0m ×4 + 42.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.970853157156263 ×2 + 42.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.892267 ms (missed cycles : 6). + 42.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.970853157156263[0m ×4 + 42.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.892267 ms (missed cycles : 6).[0m ×2 + 42.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.834211621643995 + 42.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.834211621643995[0m ×2 + 42.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.507029905540252 ×2 + 42.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.507029905540252[0m ×4 + 42.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.933422222738534 + 42.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.933422222738534[0m ×2 + 42.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.377721969803890 + 42.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.377721969803890[0m ×2 + 42.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.363748972098477 + 42.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.363748972098477[0m ×2 + 42.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.773016343954902 + 42.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.773016343954902[0m ×2 + 42.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.956652917342800 + 42.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.956652917342800[0m ×2 + 42.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.956686728924504 + 42.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.956686728924504[0m ×2 + 42.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.731380045882516 + 42.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.731380045882516[0m ×2 + 42.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.132816454051078 + 42.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.132816454051078[0m ×2 + 42.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.132816688253345 + 42.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.132816688253345[0m ×2 + 42.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.034594573978241 + 42.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.034594573978241[0m ×2 + 42.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.901475943266618 + 42.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.901475943266618[0m ×2 + 42.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.901463567492357 + 42.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.901463567492357[0m ×2 + 42.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.291091395804363 ×2 + 42.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.291091395804363[0m ×4 + 42.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.165215801058757 ×2 + 42.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.165215801058757[0m ×4 + 42.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.792802208149955 + 42.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.792802208149955[0m ×2 + 42.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.364524338302591 + 42.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.364524338302591[0m ×2 + 42.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.267599048492142 ×2 + 42.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.267599048492142[0m ×4 + 42.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.194195798126504 + 42.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.194195798126504[0m ×2 + 42.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.620111006154076 ×2 + 42.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.620111006154076[0m ×4 + 42.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.643422680222958 ×2 + 42.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.643422680222958[0m ×4 + 42.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.719369909744099 ×2 + 42.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.719369909744099[0m ×4 + 42.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.203368917400653 ×2 + 42.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.203368917400653[0m ×4 + 42.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.024650959353796 + 42.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.024650959353796[0m ×2 + 42.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.229489433385002 + 42.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.229489433385002[0m ×2 + 42.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.535454094602862 + 42.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.535454094602862[0m ×2 + 42.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.064470471950912 ×2 + 42.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.064470471950912[0m ×4 + 42.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.672989614969474 ×2 + 42.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.672989614969474[0m ×4 + 42.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.144686522351996 ×2 + 42.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.144686522351996[0m ×4 + 42.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.008726895306452 ×2 + 42.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.008726895306452[0m ×4 + 42.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.338981333520508 + 42.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.338981333520508[0m ×2 + 42.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.023350898559350 ×2 + 42.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.023350898559350[0m ×4 + 43.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.481286361558283 ×2 + 43.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.481286361558283[0m ×4 + 43.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.435095312154161 + 43.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.435095312154161[0m ×2 + 43.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.122340018823138 + 43.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.122340018823138[0m ×2 + 43.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.576805432929348 ×2 + 43.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.576805432929348[0m ×4 + 43.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.514378856135932 + 43.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.514378856135932[0m ×2 + 43.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.647003920587476 ×2 + 43.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.647003920587476[0m ×4 + 43.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.110155058019933 ×2 + 43.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.110155058019933[0m ×4 + 43.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.460031393092120 + 43.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.460031393092120[0m ×2 + 43.10sWARNcontroller_managerOverrun might occur, Total time : 7741.840 us (Expected < 1666.667 us) --> Read time : 249.102 us, Update time : 6837.807 us, Write time : 654.931 us + 43.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.191974759997060 + 43.10sWARNros2_control_nodeOverrun might occur, Total time : 7741.840 us (Expected < 1666.667 us) --> Read time : 249.102 us, Update time : 6837.807 us, Write time : 654.931 us[0m ×2 + 43.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.191974759997060[0m ×2 + 43.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.785560747953355 + 43.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.785560747953355[0m ×2 + 43.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.366332694158661 ×2 + 43.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.366332694158661[0m ×4 + 43.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.994786580773100 + 43.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.994786580773100[0m ×2 + 43.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.692648963950863 ×2 + 43.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.692648963950863[0m ×4 + 43.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.456692529807080 ×2 + 43.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.456692529807080[0m ×4 + 43.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.275304092886511 ×2 + 43.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.275304092886511[0m ×4 + 43.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.097912035316303 ×2 + 43.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.097912035316303[0m ×4 + 43.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.057384491917701 + 43.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.057384491917701[0m ×2 + 43.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024236545506663 ×2 + 43.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024236545506663[0m ×4 + 43.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.404739656881618 ×2 + 43.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.404739656881618[0m ×4 + 43.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.492833724719467 + 43.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.492833724719467[0m ×2 + 43.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.493173774225342 ×2 + 43.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.493173774225342[0m ×4 + 43.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.509136832882028 + 43.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.509136832882028[0m ×2 + 43.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.306197448481058 ×2 + 43.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.306197448481058[0m ×4 + 43.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.627966645230707 + 43.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.627966645230707[0m ×2 + 43.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.088146338779929 ×2 + 43.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.088146338779929[0m ×4 + 43.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.735771982950162 + 43.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.735771982950162[0m ×2 + 43.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.517305295749509 + 43.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.517305295749509[0m ×2 + 43.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.382546471715656 ×2 + 43.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.382546471715656[0m ×4 + 43.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.270393426166631 ×2 + 43.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.270393426166631[0m ×4 + 43.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.139270283858590 + 43.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.139270283858590[0m ×2 + 43.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.548459372139448 ×2 + 43.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.548459372139448[0m ×4 + 43.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.895326913869020 + 43.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.895326913869020[0m ×2 + 43.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.029119292366055 + 43.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.029119292366055[0m ×2 + 43.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.945856549688941 ×2 + 43.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.945856549688941[0m ×4 + 43.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.474114686270610 + 43.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.474114686270610[0m ×2 + 43.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.858116522953239 ×2 + 43.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.858116522953239[0m ×4 + 43.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.746455079912778 + 43.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.746455079912778[0m ×2 + 43.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.684210634322028 ×2 + 43.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.684210634322028[0m ×4 + 43.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.651840255934659 ×2 + 43.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.651840255934659[0m ×4 + 43.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.416818280035773 + 43.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.416818280035773[0m ×2 + 43.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.256202678280992 ×2 + 43.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.256202678280992[0m ×4 + 43.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.755665357117386 + 43.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.755665357117386[0m ×2 + 43.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.303615305057477 ×2 + 43.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.303615305057477[0m ×4 + 43.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.356399565871421 + 43.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.356399565871421[0m ×2 + 43.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.610111048730342 ×2 + 43.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.610111048730342[0m ×4 + 43.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.285781371855650 ×2 + 43.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.285781371855650[0m ×4 + 43.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.553032744364495 ×2 + 43.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.553032744364495[0m ×4 + 43.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.462705145787837 ×2 + 43.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.462705145787837[0m ×4 + 43.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.604997512321802 ×2 + 43.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.604997512321802[0m ×4 + 43.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.957075375860310 + 43.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.957075375860310[0m ×2 + 43.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.903385545318947 + 43.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.903385545318947[0m ×2 + 43.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.346734756788020 + 43.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.346734756788020[0m ×2 + 43.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.928298104358821 + 43.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.928298104358821[0m ×2 + 43.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.215699637520201 + 43.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.215699637520201[0m ×2 + 43.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.745873431218740 + 43.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.745873431218740[0m ×2 + 43.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.788895094834988 + 43.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.788895094834988[0m ×2 + 43.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.624478931893604 + 43.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.624478931893604[0m ×2 + 43.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.622666955695783 + 43.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.622666955695783[0m ×2 + 43.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.969793999070394 + 43.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.969793999070394[0m ×2 + 43.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014683 ms (missed cycles : 2). + 43.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014683 ms (missed cycles : 2).[0m ×2 + 43.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.353625215917880 + 43.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.353625215917880[0m ×2 + 43.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.297801860417820 + 43.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.297801860417820[0m ×2 + 43.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.256340631404726 + 43.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.256340631404726[0m ×2 + 43.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.422014483478769 ×2 + 43.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.422014483478769[0m ×4 + 43.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.734319255232634 + 43.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.734319255232634[0m ×2 + 43.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.619909323831585 + 43.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.619909323831585[0m ×2 + 43.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.618493336810829 + 43.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.618493336810829[0m ×2 + 43.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.073359622889463 ×2 + 43.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.073359622889463[0m ×4 + 43.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.304455729531673 + 43.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.304455729531673[0m ×2 + 43.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.760276294241486 ×2 + 43.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.760276294241486[0m ×4 + 43.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.563875531474434 + 43.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.563875531474434[0m ×2 + 43.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.229727643825846 + 43.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.229727643825846[0m ×2 + 43.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.677184161428100 ×2 + 43.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.677184161428100[0m ×4 + 43.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.858930951565320 ×2 + 43.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.858930951565320[0m ×4 + 43.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.981616939944676 + 43.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.981616939944676[0m ×2 + 43.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.582288504177740 + 43.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.582288504177740[0m ×2 + 43.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.545526409816176 + 43.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.545526409816176[0m ×2 + 43.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.152216398550330 + 43.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.152216398550330[0m ×2 + 43.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.224678071144432 + 43.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.224678071144432[0m ×2 + 43.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.537388428361247 + 43.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.537388428361247[0m ×2 + 43.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.537930209109980 + 43.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.537930209109980[0m ×2 + 43.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.739700026221946 + 43.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.739700026221946[0m ×2 + 43.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.100975395463831 + 43.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.100975395463831[0m ×2 + 44.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.174228291061119 + 44.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.174228291061119[0m ×2 + 44.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.094138037379370 + 44.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.094138037379370[0m ×2 + 44.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.784132848805323 + 44.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.784132848805323[0m ×2 + 44.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.343026963230248 + 44.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.343026963230248[0m ×2 + 44.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.904081863043788 + 44.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.904081863043788[0m ×2 + 44.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.466624266836609 ×2 + 44.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.466624266836609[0m ×4 + 44.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.031709976983914 + 44.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.031709976983914[0m ×2 + 44.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.403283338356633 + 44.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.403283338356633[0m ×2 + 44.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.835764083390428 + 44.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.835764083390428[0m ×2 + 44.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.699781443685870 + 44.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.699781443685870[0m ×2 + 44.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.130653457422683 + 44.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.130653457422683[0m ×2 + 44.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.561989989272377 + 44.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.561989989272377[0m ×2 + 44.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.992777177702353 + 44.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.992777177702353[0m ×2 + 44.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.423798104448595 + 44.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.423798104448595[0m ×2 + 44.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.853716466775996 + 44.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.853716466775996[0m ×2 + 44.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.681692775901400 + 44.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.681692775901400[0m ×2 + 44.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.681678420441241 + 44.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.681678420441241[0m ×2 + 44.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.115769311940952 + 44.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.115769311940952[0m ×2 + 44.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.550542366290468 + 44.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.550542366290468[0m ×2 + 44.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.418724321826168 + 44.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.418724321826168[0m ×2 + 44.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.852825216863906 + 44.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.852825216863906[0m ×2 + 44.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.285731169927761 + 44.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.285731169927761[0m ×2 + 44.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.717054705077256 + 44.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.717054705077256[0m ×2 + 44.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.123481126095580 + 44.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.123481126095580[0m ×2 + 44.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.991328132867338 + 44.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.991328132867338[0m ×2 + 44.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.425803364350099 + 44.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.425803364350099[0m ×2 + 44.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.859818586134082 + 44.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.859818586134082[0m ×2 + 44.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.674317786029162 + 44.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.674317786029162[0m ×2 + 44.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.245857080494991 + 44.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.245857080494991[0m ×2 + 44.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.817704854274499 + 44.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.817704854274499[0m ×2 + 44.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.388913037838242 + 44.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.388913037838242[0m ×2 + 44.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.039888982224558 + 44.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.039888982224558[0m ×2 + 44.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.469619135131161 + 44.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.469619135131161[0m ×2 + 44.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.315042733900364 + 44.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.315042733900364[0m ×2 + 44.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.168801399503636 + 44.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.168801399503636[0m ×2 + 44.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.597488896064672 + 44.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.597488896064672[0m ×2 + 44.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.025992349564531 + 44.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.025992349564531[0m ×2 + 44.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.487475110761938 + 44.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.487475110761938[0m ×2 + 44.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.909238111876592 + 44.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.909238111876592[0m ×2 + 44.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.331574086344427 + 44.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.331574086344427[0m ×2 + 44.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.758140132772137 + 44.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.758140132772137[0m ×2 + 44.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.184731875727771 + 44.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.184731875727771[0m ×2 + 44.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.604226330591768 + 44.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.604226330591768[0m ×2 + 44.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.065325453683524 + 44.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.065325453683524[0m ×2 + 44.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.887353992641398 + 44.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.887353992641398[0m ×2 + 44.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.455087131054068 + 44.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.455087131054068[0m ×2 + 44.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.031767697130753 + 44.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.031767697130753[0m ×2 + 44.58sWARNcontroller_managerOverrun might occur, Total time : 6732.932 us (Expected < 1666.667 us) --> Read time : 84.594 us, Update time : 156.257 us, Write time : 6492.081 us + 44.59sWARNros2_control_nodeOverrun might occur, Total time : 6732.932 us (Expected < 1666.667 us) --> Read time : 84.594 us, Update time : 156.257 us, Write time : 6492.081 us[0m ×2 + 44.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.599222188387273 + 44.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.599222188387273[0m ×2 + 44.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.614591779027593 + 44.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.614591779027593[0m ×2 + 44.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.185398395118732 + 44.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.185398395118732[0m ×2 + 44.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.749381658849893 + 44.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.749381658849893[0m ×2 + 44.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.382651013727647 + 44.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.382651013727647[0m ×2 + 44.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.762340557158555 + 44.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.762340557158555[0m ×2 + 44.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.201071880413724 + 44.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.201071880413724[0m ×2 + 44.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.072229510635761 + 44.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.072229510635761[0m ×2 + 44.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.487654498344726 + 44.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.487654498344726[0m ×2 + 44.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.924522076435762 + 44.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.924522076435762[0m ×2 + 44.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.345620426184251 + 44.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.345620426184251[0m ×2 + 44.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.780286543977866 + 44.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.780286543977866[0m ×2 + 44.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.217477741047272 + 44.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.217477741047272[0m ×2 + 44.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.152190 ms (missed cycles : 5). + 44.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.152190 ms (missed cycles : 5).[0m ×2 + 44.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.616472856537229 + 44.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.616472856537229[0m ×2 + 44.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.495112363521166 + 44.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.495112363521166[0m ×2 + 44.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.926271646777870 + 44.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.926271646777870[0m ×2 + 44.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.364795887509146 + 44.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.364795887509146[0m ×2 + 44.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.799938762634458 + 44.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.799938762634458[0m ×2 + 44.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.208077333435128 + 44.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.208077333435128[0m ×2 + 44.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.655531375273711 + 44.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.655531375273711[0m ×2 + 44.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.073378086524738 + 44.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.073378086524738[0m ×2 + 44.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.518365285356897 + 44.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.518365285356897[0m ×2 + 44.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.374363909221305 + 44.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.374363909221305[0m ×2 + 44.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.795773413533340 + 44.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.795773413533340[0m ×2 + 44.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.795787347040324 + 44.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.795787347040324[0m ×2 + 44.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.232719492890176 + 44.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.232719492890176[0m ×2 + 44.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.282034116265379 + 44.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.282034116265379[0m ×2 + 44.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.903283476517206 + 44.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.903283476517206[0m ×2 + 44.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.102098150829413 + 44.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.102098150829413[0m ×2 + 44.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.165797940550398 + 44.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.165797940550398[0m ×2 + 44.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.795257444592377 + 44.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.795257444592377[0m ×2 + 44.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.998072284379376 + 44.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.998072284379376[0m ×2 + 44.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.987043224145411 + 44.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.987043224145411[0m ×2 + 44.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.368293840233637 + 44.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.368293840233637[0m ×2 + 44.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.769424701657996 + 44.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.769424701657996[0m ×2 + 44.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.322373162052651 + 44.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.322373162052651[0m ×2 + 45.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.420540793182956 + 45.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.420540793182956[0m ×2 + 45.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.034901255015166 + 45.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.034901255015166[0m ×2 + 45.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.303220886333080 ×2 + 45.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.303220886333080[0m ×4 + 45.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.282129813903617 + 45.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.282129813903617[0m ×2 + 45.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.039901428659553 + 45.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.039901428659553[0m ×2 + 45.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.690565059950966 + 45.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.690565059950966[0m ×2 + 45.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.503486225031256 + 45.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.503486225031256[0m ×2 + 45.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.515389875823594 + 45.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.515389875823594[0m ×2 + 45.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.987520144126002 + 45.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.987520144126002[0m ×2 + 45.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.222929739711030 + 45.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.222929739711030[0m ×2 + 45.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.165720695041802 + 45.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.165720695041802[0m ×2 + 45.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.834047485886211 + 45.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.834047485886211[0m ×2 + 45.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.129505236438273 + 45.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.129505236438273[0m ×2 + 45.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.829792240174857 + 45.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.829792240174857[0m ×2 + 45.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.534767332665684 + 45.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.534767332665684[0m ×2 + 45.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.614693868186592 + 45.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.614693868186592[0m ×2 + 45.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.544057007990801 + 45.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.544057007990801[0m ×2 + 45.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.535437377173199 + 45.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.535437377173199[0m ×2 + 45.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.360853707726601 + 45.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.360853707726601[0m ×2 + 45.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.777376170981707 + 45.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.777376170981707[0m ×2 + 45.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.661234637038877 + 45.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.661234637038877[0m ×2 + 45.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.661819017486369 + 45.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.661819017486369[0m ×2 + 45.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.355636332238610 + 45.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.355636332238610[0m ×2 + 45.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.396267662827160 + 45.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.396267662827160[0m ×2 + 45.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.250600809294799 + 45.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.250600809294799[0m ×2 + 45.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.222353591451032 + 45.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.222353591451032[0m ×2 + 45.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.314445704938553 + 45.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.314445704938553[0m ×2 + 45.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.006058891889648 + 45.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.006058891889648[0m ×2 + 45.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.980982116340649 ×2 + 45.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.980982116340649[0m ×4 + 45.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.167446428009460 + 45.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.167446428009460[0m ×2 + 45.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.740350325597247 + 45.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.740350325597247[0m ×2 + 45.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.836761236000433 + 45.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.836761236000433[0m ×2 + 45.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.529201861532458 + 45.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.529201861532458[0m ×2 + 45.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.894646558312452 + 45.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.894646558312452[0m ×2 + 45.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.645107820785446 + 45.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.645107820785446[0m ×2 + 45.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.284503396645732 + 45.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.284503396645732[0m ×2 + 45.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.620158834205311 + 45.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.620158834205311[0m ×2 + 45.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.619991075561934 + 45.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.619991075561934[0m ×2 + 45.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.177588364270214 + 45.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.177588364270214[0m ×2 + 45.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.576518206152013 + 45.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.576518206152013[0m ×2 + 45.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.862538516498965 + 45.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.862538516498965[0m ×2 + 45.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.928073153948691 + 45.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.928073153948691[0m ×2 + 45.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.853437031806941 + 45.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.853437031806941[0m ×2 + 45.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.621520349115208 + 45.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.621520349115208[0m ×2 + 45.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.399540854123323 ×2 + 45.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.399540854123323[0m ×4 + 45.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.344718458292931 + 45.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.344718458292931[0m ×2 + 45.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.285764934063351 + 45.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.285764934063351[0m ×2 + 45.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.086278581475526 + 45.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.086278581475526[0m ×2 + 45.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.321414340410936 + 45.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.321414340410936[0m ×2 + 45.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.993945040401435 + 45.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.993945040401435[0m ×2 + 45.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.827303438465627 ×2 + 45.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.827303438465627[0m ×4 + 45.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.887502009057883 + 45.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.887502009057883[0m ×2 + 45.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.876768539948777 + 45.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.876768539948777[0m ×2 + 45.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.064319569082606 + 45.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.064319569082606[0m ×2 + 45.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.196230776781952 + 45.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.196230776781952[0m ×2 + 45.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.894095922272225 + 45.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.894095922272225[0m ×2 + 45.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.483199741760796 + 45.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.483199741760796[0m ×2 + 45.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.277545654213533 + 45.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.277545654213533[0m ×2 + 45.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.356117372634962 + 45.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.356117372634962[0m ×2 + 45.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576555 ms (missed cycles : 2). + 45.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576555 ms (missed cycles : 2).[0m ×2 + 45.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.203304905611724 + 45.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.203304905611724[0m ×2 + 45.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.435113642609121 + 45.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.435113642609121[0m ×2 + 45.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.109926737302996 + 45.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.109926737302996[0m ×2 + 45.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.682022201719906 + 45.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.682022201719906[0m ×2 + 45.77sWARNcontroller_managerOverrun might occur, Total time : 4059.294 us (Expected < 1666.667 us) --> Read time : 175.638 us, Update time : 3395.743 us, Write time : 487.913 us + 45.77sWARNros2_control_nodeOverrun might occur, Total time : 4059.294 us (Expected < 1666.667 us) --> Read time : 175.638 us, Update time : 3395.743 us, Write time : 487.913 us[0m ×2 + 45.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.550042206681391 + 45.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.550042206681391[0m ×2 + 45.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.136715436146320 + 45.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.136715436146320[0m ×2 + 45.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.670356511499770 + 45.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.670356511499770[0m ×2 + 45.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.712685136154571 + 45.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.712685136154571[0m ×2 + 45.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.936169965809384 + 45.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.936169965809384[0m ×2 + 45.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.155770469243180 + 45.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.155770469243180[0m ×2 + 45.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.155306728171933 + 45.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.155306728171933[0m ×2 + 45.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.410242939210292 + 45.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.410242939210292[0m ×2 + 45.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.558189119524926 + 45.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.558189119524926[0m ×2 + 45.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.512396390052867 + 45.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.512396390052867[0m ×2 + 45.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.376163642862799 + 45.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.376163642862799[0m ×2 + 45.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.154825358997460 + 45.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.154825358997460[0m ×2 + 45.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.558612024288685 + 45.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.558612024288685[0m ×2 + 45.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.719627009468304 + 45.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.719627009468304[0m ×2 + 45.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.527988948684637 + 45.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.527988948684637[0m ×2 + 45.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.380582759676447 + 45.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.380582759676447[0m ×2 + 45.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.301481243452283 + 45.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.301481243452283[0m ×2 + 45.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.278978089211535 + 45.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.278978089211535[0m ×2 + 45.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.355268244774194 + 45.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.355268244774194[0m ×2 + 45.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.039857338931981 ×2 + 45.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.039857338931981[0m ×4 + 45.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.755634192070872 + 45.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.755634192070872[0m ×2 + 46.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.399243786895394 + 46.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.399243786895394[0m ×2 + 46.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.975494691471177 + 46.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.975494691471177[0m ×2 + 46.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.589802951382833 + 46.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.589802951382833[0m ×2 + 46.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.348350935171190 + 46.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.348350935171190[0m ×2 + 46.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.880008812266370 + 46.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.880008812266370[0m ×2 + 46.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.905107041000274 + 46.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.905107041000274[0m ×2 + 46.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.444532166484336 ×2 + 46.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.444532166484336[0m ×4 + 46.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.481515029212600 + 46.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.481515029212600[0m ×2 + 46.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.825955313923261 + 46.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.825955313923261[0m ×2 + 46.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.412921685835146 + 46.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.412921685835146[0m ×2 + 46.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.138897338598220 + 46.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.138897338598220[0m ×2 + 46.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.801614442282155 + 46.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.801614442282155[0m ×2 + 46.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.282945588183399 + 46.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.282945588183399[0m ×2 + 46.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.705662681932345 + 46.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.705662681932345[0m ×2 + 46.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.705392302874301 + 46.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.705392302874301[0m ×2 + 46.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.177579158024862 + 46.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.177579158024862[0m ×2 + 46.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.628735581721756 + 46.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.628735581721756[0m ×2 + 46.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.729410303225187 + 46.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.729410303225187[0m ×2 + 46.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.923536963409259 ×2 + 46.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.923536963409259[0m ×4 + 46.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.436637990517298 + 46.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.436637990517298[0m ×2 + 46.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.869159044516653 + 46.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.869159044516653[0m ×2 + 46.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.233295648479025 ×2 + 46.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.233295648479025[0m ×4 + 46.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.589062340776124 + 46.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.589062340776124[0m ×2 + 46.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.749281265217263 + 46.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.749281265217263[0m ×2 + 46.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.276189894113472 + 46.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.276189894113472[0m ×2 + 46.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.757837606923424 + 46.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.757837606923424[0m ×2 + 46.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.368290156288964 + 46.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.368290156288964[0m ×2 + 46.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.264070615763302 ×2 + 46.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.264070615763302[0m ×4 + 46.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.510108311384556 + 46.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.510108311384556[0m ×2 + 46.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.682209862149303 + 46.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.682209862149303[0m ×2 + 46.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.054125177073779 + 46.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.054125177073779[0m ×2 + 46.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.595697921419855 + 46.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.595697921419855[0m ×2 + 46.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.255168703407392 + 46.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.255168703407392[0m ×2 + 46.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.474424718623405 + 46.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.474424718623405[0m ×2 + 46.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.909976846593398 + 46.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.909976846593398[0m ×2 + 46.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.455473374269858 + 46.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.455473374269858[0m ×2 + 46.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.112252393442488 + 46.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.112252393442488[0m ×2 + 46.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.054684694125712 + 46.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.054684694125712[0m ×2 + 46.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.054657747611434 + 46.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.054657747611434[0m ×2 + 46.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.394545966786929 + 46.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.394545966786929[0m ×2 + 46.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.099263853302617 + 46.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.099263853302617[0m ×2 + 46.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.013277286046609 + 46.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.013277286046609[0m ×2 + 46.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.013626776478949 + 46.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.013626776478949[0m ×2 + 46.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.924241465482634 + 46.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.924241465482634[0m ×2 + 46.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.779582637910558 + 46.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.779582637910558[0m ×2 + 46.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.877747023376656 + 46.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.877747023376656[0m ×2 + 46.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.054171889795143 + 46.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.054171889795143[0m ×2 + 46.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.060811580523435 + 46.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.060811580523435[0m ×2 + 46.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.251452112021781 + 46.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.251452112021781[0m ×2 + 46.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.452506180484740 + 46.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.452506180484740[0m ×2 + 46.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.720707530920333 + 46.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.720707530920333[0m ×2 + 46.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.837044591625968 + 46.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.837044591625968[0m ×2 + 46.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.992663937893056 ×2 + 46.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.992663937893056[0m ×4 + 46.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.758913709258685 + 46.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.758913709258685[0m ×2 + 46.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.513744731415549 + 46.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.513744731415549[0m ×2 + 46.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.738405125441624 + 46.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.738405125441624[0m ×2 + 46.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.450660565408633 + 46.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.450660565408633[0m ×2 + 46.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.800797631457328 + 46.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.800797631457328[0m ×2 + 46.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.991190005546818 + 46.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.991190005546818[0m ×2 + 46.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.448137746676757 + 46.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.448137746676757[0m ×2 + 46.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.808781322827103 + 46.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.808781322827103[0m ×2 + 46.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.128784916467469 + 46.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.128784916467469[0m ×2 + 46.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.134596966809036 + 46.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.134596966809036[0m ×2 + 46.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.182507395801040 ×2 + 46.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.182507395801040[0m ×4 + 46.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.393095716582127 + 46.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.393095716582127[0m ×2 + 46.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.397391614609890 + 46.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.397391614609890[0m ×2 + 46.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.100494437015799 + 46.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.100494437015799[0m ×2 + 46.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.286863964396962 + 46.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.286863964396962[0m ×2 + 46.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.566122 ms (missed cycles : 7). + 46.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.566122 ms (missed cycles : 7).[0m ×2 + 46.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.233420799936490 + 46.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.233420799936490[0m ×2 + 46.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.019814005820853 + 46.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.019814005820853[0m ×2 + 46.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.370182597060428 + 46.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.370182597060428[0m ×2 + 46.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.823735085108646 + 46.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.823735085108646[0m ×2 + 46.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.281995095916423 + 46.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.281995095916423[0m ×2 + 46.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.716309391144986 + 46.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.716309391144986[0m ×2 + 46.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.151296811264899 + 46.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.151296811264899[0m ×2 + 46.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.590031899737284 + 46.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.590031899737284[0m ×2 + 46.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.047873892654181 + 46.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.047873892654181[0m ×2 + 46.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.496476809209945 + 46.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.496476809209945[0m ×2 + 46.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.496531538816747 + 46.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.496531538816747[0m ×2 + 46.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.941262691830119 + 46.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.941262691830119[0m ×2 + 46.91sWARNcontroller_managerOverrun might occur, Total time : 5201.149 us (Expected < 1666.667 us) --> Read time : 118.396 us, Update time : 42.532 us, Write time : 5040.221 us + 46.92sWARNros2_control_nodeOverrun might occur, Total time : 5201.149 us (Expected < 1666.667 us) --> Read time : 118.396 us, Update time : 42.532 us, Write time : 5040.221 us[0m ×2 + 46.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.376438748120101 + 46.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.376438748120101[0m ×2 + 46.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.665181964029024 + 46.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.665181964029024[0m ×2 + 46.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.208577090724837 + 46.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.208577090724837[0m ×2 + 46.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.081075560922383 + 46.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.081075560922383[0m ×2 + 46.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.491933449904892 + 46.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.491933449904892[0m ×2 + 46.99sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780499156.04877996 seconds ×3 + 46.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.980993153882366 + 46.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.980993153882366[0m ×2 + 47.66sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780499156.71420503 seconds. ×3 + 47.73sINFOobjective_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 + 47.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657977 ms (missed cycles : 4). + 47.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657977 ms (missed cycles : 4).[0m ×2 + 47.82sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 47.82sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 47.83sINFOros2_control_node[2026-06-03 15:05:56.887] [info] Received new action goal ×2 + 47.83sINFOros2_control_node[2026-06-03 15:05:56.887] [info] Accepted new action goal ×2 + 47.92sWARNcontroller_managerOverrun might occur, Total time : 7027.377 us (Expected < 1666.667 us) --> Read time : 99.465 us, Update time : 6396.246 us, Write time : 531.666 us + 47.92sWARNros2_control_nodeOverrun might occur, Total time : 7027.377 us (Expected < 1666.667 us) --> Read time : 99.465 us, Update time : 6396.246 us, Write time : 531.666 us[0m ×2 + 48.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748221 ms (missed cycles : 2). + 48.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748221 ms (missed cycles : 2).[0m ×2 + 49.04sWARNcontroller_managerOverrun might occur, Total time : 4289.955 us (Expected < 1666.667 us) --> Read time : 718.484 us, Update time : 3098.428 us, Write time : 473.043 us + 49.04sWARNros2_control_nodeOverrun might occur, Total time : 4289.955 us (Expected < 1666.667 us) --> Read time : 718.484 us, Update time : 3098.428 us, Write time : 473.043 us[0m ×2 + 49.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776109 ms (missed cycles : 3). + 49.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776109 ms (missed cycles : 3).[0m ×2 + 50.18sWARNcontroller_managerOverrun might occur, Total time : 4509.035 us (Expected < 1666.667 us) --> Read time : 96.744 us, Update time : 3876.446 us, Write time : 535.845 us + 50.18sWARNros2_control_nodeOverrun might occur, Total time : 4509.035 us (Expected < 1666.667 us) --> Read time : 96.744 us, Update time : 3876.446 us, Write time : 535.845 us[0m ×2 + 50.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000345706950508 + 50.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000345706950508[0m ×2 + 50.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001202490504833 + 50.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001202490504833[0m ×2 + 50.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001310999685317 + 50.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001310999685317[0m ×2 + 50.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001394836168219 + 50.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001394836168219[0m ×2 + 50.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061975403410 ×2 + 50.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061975403410[0m ×4 + 50.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084473016530 + 50.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084473016530[0m ×2 + 50.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000174220468407 ×2 + 50.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000174220468407[0m ×4 + 50.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000186236902974 + 50.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000186236902974[0m ×2 + 50.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000173057803872 ×2 + 50.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000173057803872[0m ×4 + 50.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000148402056202 ×2 + 50.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000148402056202[0m ×4 + 50.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000603342060080 + 50.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000603342060080[0m ×2 + 50.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000488321392703 + 50.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000488321392703[0m ×2 + 50.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025762007390 + 50.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025762007390[0m ×2 + 50.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025440326409 + 50.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025440326409[0m ×2 + 50.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032624246057 + 50.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032624246057[0m ×2 + 50.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031741862274 + 50.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031741862274[0m ×2 + 50.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122081374088 + 50.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122081374088[0m ×2 + 50.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026868895699 + 50.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026868895699[0m ×2 + 50.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073333459579 + 50.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073333459579[0m ×2 + 50.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033084947171 + 50.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033084947171[0m ×2 + 50.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000173494407743 + 50.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000173494407743[0m ×2 + 50.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022712663979 + 50.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022712663979[0m ×2 + 50.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000654974801863 + 50.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000654974801863[0m ×2 + 50.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000130699114309 + 50.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000130699114309[0m ×2 + 50.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000454718998101 + 50.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000454718998101[0m ×2 + 50.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000509818850716 + 50.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000509818850716[0m ×2 + 50.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000867707582763 + 50.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000867707582763[0m ×2 + 50.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000267438771499 + 50.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000267438771499[0m ×2 + 50.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000963841910114 + 50.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000963841910114[0m ×2 + 50.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000866774058395 + 50.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000866774058395[0m ×2 + 50.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000628992894548 + 50.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000628992894548[0m ×2 + 50.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000110416551054 + 50.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000110416551054[0m ×2 + 50.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000185766969719 + 50.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000185766969719[0m ×2 + 50.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018275149317 + 50.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018275149317[0m ×2 + 50.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000176149872650 + 50.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000176149872650[0m ×2 + 50.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001096964382403 + 50.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001096964382403[0m ×2 + 50.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000602490788671 + 50.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000602490788671[0m ×2 + 50.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000177827709559 + 50.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000177827709559[0m ×2 + 50.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000887907734535 + 50.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000887907734535[0m ×2 + 50.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000861445473044 + 50.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000861445473044[0m ×2 + 50.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000861725034541 + 50.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000861725034541[0m ×2 + 50.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000225351694876 + 50.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000225351694876[0m ×2 + 50.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000176161235700 + 50.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000176161235700[0m ×2 + 50.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000217666899693 ×2 + 50.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000217666899693[0m ×4 + 50.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000195526562198 ×2 + 50.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000195526562198[0m ×4 + 50.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000140152194206 + 50.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000140152194206[0m ×2 + 50.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000048631549227 ×2 + 50.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000048631549227[0m ×4 + 50.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006932943656 ×2 + 50.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006932943656[0m ×4 + 50.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000065282553441 + 50.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000065282553441[0m ×2 + 50.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000074955613939 + 50.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000074955613939[0m ×2 + 50.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000309012612078 + 50.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000309012612078[0m ×2 + 50.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000489976406277 + 50.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000489976406277[0m ×2 + 50.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000550616453554 + 50.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000550616453554[0m ×2 + 50.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001039809717621 + 50.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001039809717621[0m ×2 + 50.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001086379382111 + 50.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001086379382111[0m ×2 + 50.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000617901098029 + 50.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000617901098029[0m ×2 + 50.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000303476469653 ×2 + 50.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000303476469653[0m ×4 + 50.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000104728635165 + 50.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000104728635165[0m ×2 + 50.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000686346790694 + 50.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000686346790694[0m ×2 + 50.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070762787688 + 50.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070762787688[0m ×2 + 50.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036256685769 ×2 + 50.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036256685769[0m ×4 + 50.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000201244118624 + 50.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000201244118624[0m ×2 + 50.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063563548001 + 50.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063563548001[0m ×2 + 50.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072099731721 + 50.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072099731721[0m ×2 + 50.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000555507833984 + 50.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000555507833984[0m ×2 + 50.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000317646077493 + 50.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000317646077493[0m ×2 + 50.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000149527491224 + 50.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000149527491224[0m ×2 + 50.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000149495508285 + 50.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000149495508285[0m ×2 + 50.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000049512377751 ×2 + 50.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000049512377751[0m ×4 + 50.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000090227095202 + 50.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000090227095202[0m ×2 + 50.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000151818884193 + 50.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000151818884193[0m ×2 + 50.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000079923377284 + 50.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000079923377284[0m ×2 + 50.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013454009546 + 50.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013454009546[0m ×2 + 50.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001337996082882 + 50.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001337996082882[0m ×2 + 50.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000813002729448 + 50.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000813002729448[0m ×2 + 50.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135569 ms (missed cycles : 2). + 50.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135569 ms (missed cycles : 2).[0m ×2 + 50.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000907547162750 + 50.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000907547162750[0m ×2 + 50.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001138462778739 + 50.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001138462778739[0m ×2 + 50.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001319298781508 + 50.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001319298781508[0m ×2 + 50.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001906569934346 + 50.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001906569934346[0m ×2 + 50.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002126405568102 + 50.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002126405568102[0m ×2 + 50.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001134488126347 + 50.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001134488126347[0m ×2 + 50.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002435747425403 + 50.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002435747425403[0m ×2 + 50.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001227686728641 + 50.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001227686728641[0m ×2 + 50.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001099180807422 + 50.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001099180807422[0m ×2
✓ passed	Move Flasks to Burners	move_flasks_to_burners.xml	41.5s	243 warnings · 280 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780499055.61721468 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.09sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.09sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780499056.20801091 seconds. ×3 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.552489 ms (missed cycles : 7). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.552489 ms (missed cycles : 7).[0m ×2 + 1.08sINFOobjective_server_node[0;93m2026-06-03 15:04:16.700892391 [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 + 1.08sINFOobjective_server_node[0;93m2026-06-03 15:04:16.700933753 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.10sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.10sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.10sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.10sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.26sWARNcontroller_managerOverrun might occur, Total time : 1731.922 us (Expected < 1666.667 us) --> Read time : 130.916 us, Update time : 1183.446 us, Write time : 417.560 us + 1.26sWARNros2_control_nodeOverrun might occur, Total time : 1731.922 us (Expected < 1666.667 us) --> Read time : 130.916 us, Update time : 1183.446 us, Write time : 417.560 us[0m ×2 + 1.58sINFOobjective_server_node[0;93m2026-06-03 15:04:17.192025562 [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 + 1.58sINFOobjective_server_node[0;93m2026-06-03 15:04:17.192057603 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.67sINFOobjective_server_node[0;93m2026-06-03 15:04:17.287821090 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 15:04:17.289726080 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 15:04:17.289744461 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.667794 ms (missed cycles : 6). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.667794 ms (missed cycles : 6).[0m ×2 + 1.99sINFOobjective_server_node[0;93m2026-06-03 15:04:17.602501170 [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 + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:04:17.620600188 [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 + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:04:17.620632479 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.809150 ms (missed cycles : 6). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.809150 ms (missed cycles : 6).[0m ×2 + 2.81sWARNcontroller_managerOverrun might occur, Total time : 1769.044 us (Expected < 1666.667 us) --> Read time : 760.226 us, Update time : 91.294 us, Write time : 917.524 us + 2.82sWARNros2_control_nodeOverrun might occur, Total time : 1769.044 us (Expected < 1666.667 us) --> Read time : 760.226 us, Update time : 91.294 us, Write time : 917.524 us[0m ×2 + 2.87sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780499058.49195266 seconds ×3 + 3.11sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.11sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780499059.15650511 seconds. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.61sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.61sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.63sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.64sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 3.77sINFOros2_control_node[2026-06-03 15:04:19.382] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-06-03 15:04:19.382] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309644 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309644 ms (missed cycles : 3).[0m ×2 + 4.04sWARNcontroller_managerOverrun might occur, Total time : 6131.810 us (Expected < 1666.667 us) --> Read time : 151.967 us, Update time : 5451.748 us, Write time : 528.095 us + 4.04sWARNros2_control_nodeOverrun might occur, Total time : 6131.810 us (Expected < 1666.667 us) --> Read time : 151.967 us, Update time : 5451.748 us, Write time : 528.095 us[0m ×2 + 4.12sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 4.12sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.608203 ms (missed cycles : 7). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.608203 ms (missed cycles : 7).[0m ×2 + 5.25sWARNcontroller_managerOverrun might occur, Total time : 3884.696 us (Expected < 1666.667 us) --> Read time : 126.317 us, Update time : 3325.358 us, Write time : 433.021 us + 5.25sWARNros2_control_nodeOverrun might occur, Total time : 3884.696 us (Expected < 1666.667 us) --> Read time : 126.317 us, Update time : 3325.358 us, Write time : 433.021 us[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956502 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956502 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun might occur, Total time : 6041.105 us (Expected < 1666.667 us) --> Read time : 140.596 us, Update time : 5441.187 us, Write time : 459.322 us + 6.39sWARNros2_control_nodeOverrun might occur, Total time : 6041.105 us (Expected < 1666.667 us) --> Read time : 140.596 us, Update time : 5441.187 us, Write time : 459.322 us[0m ×2 + 6.59sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 6.60sINFOros2_control_node[2026-06-03 15:04:22.220] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-06-03 15:04:22.220] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383412 ms (missed cycles : 4). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383412 ms (missed cycles : 4).[0m ×2 + 7.44sWARNcontroller_managerOverrun might occur, Total time : 9477.988 us (Expected < 1666.667 us) --> Read time : 96.014 us, Update time : 8853.249 us, Write time : 528.725 us + 7.44sWARNros2_control_nodeOverrun might occur, Total time : 9477.988 us (Expected < 1666.667 us) --> Read time : 96.014 us, Update time : 8853.249 us, Write time : 528.725 us[0m ×2 + 7.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008628 ms (missed cycles : 5). + 7.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008628 ms (missed cycles : 5).[0m ×2 + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332455 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332455 ms (missed cycles : 2).[0m ×2 + 9.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 9.77sINFOros2_control_node[2026-06-03 15:04:25.390] [info] Received new action goal ×2 + 9.77sINFOros2_control_node[2026-06-03 15:04:25.390] [info] Accepted new action goal ×2 + 9.86sWARNcontroller_managerOverrun might occur, Total time : 5022.538 us (Expected < 1666.667 us) --> Read time : 102.795 us, Update time : 4592.377 us, Write time : 327.366 us + 9.86sWARNros2_control_nodeOverrun might occur, Total time : 5022.538 us (Expected < 1666.667 us) --> Read time : 102.795 us, Update time : 4592.377 us, Write time : 327.366 us[0m ×2 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956762 ms (missed cycles : 2). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956762 ms (missed cycles : 2).[0m ×2 + 11.02sWARNcontroller_managerOverrun might occur, Total time : 1846.217 us (Expected < 1666.667 us) --> Read time : 165.637 us, Update time : 1395.117 us, Write time : 285.463 us + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040634 ms (missed cycles : 2). + 11.02sWARNros2_control_nodeOverrun might occur, Total time : 1846.217 us (Expected < 1666.667 us) --> Read time : 165.637 us, Update time : 1395.117 us, Write time : 285.463 us[0m ×2 + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040634 ms (missed cycles : 2).[0m ×2 + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.529472 ms (missed cycles : 7). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.529472 ms (missed cycles : 7).[0m ×2 + 12.64sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 12.64sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 12.67sINFOros2_control_node[2026-06-03 15:04:28.282] [info] Received new action goal ×2 + 12.67sINFOros2_control_node[2026-06-03 15:04:28.282] [info] Accepted new action goal ×2 + 12.78sWARNcontroller_managerOverrun might occur, Total time : 3246.964 us (Expected < 1666.667 us) --> Read time : 310.485 us, Update time : 51.982 us, Write time : 2884.497 us + 12.78sWARNros2_control_nodeOverrun might occur, Total time : 3246.964 us (Expected < 1666.667 us) --> Read time : 310.485 us, Update time : 51.982 us, Write time : 2884.497 us[0m ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.146274 ms (missed cycles : 4). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.146274 ms (missed cycles : 4).[0m ×2 + 14.05sWARNcontroller_managerOverrun might occur, Total time : 5735.702 us (Expected < 1666.667 us) --> Read time : 131.146 us, Update time : 5180.366 us, Write time : 424.190 us + 14.05sWARNros2_control_nodeOverrun might occur, Total time : 5735.702 us (Expected < 1666.667 us) --> Read time : 131.146 us, Update time : 5180.366 us, Write time : 424.190 us[0m ×2 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.017067 ms (missed cycles : 5). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.017067 ms (missed cycles : 5).[0m ×2 + 15.14sWARNcontroller_managerOverrun might occur, Total time : 6556.621 us (Expected < 1666.667 us) --> Read time : 111.385 us, Update time : 5957.493 us, Write time : 487.743 us + 15.14sWARNros2_control_nodeOverrun might occur, Total time : 6556.621 us (Expected < 1666.667 us) --> Read time : 111.385 us, Update time : 5957.493 us, Write time : 487.743 us[0m ×2 + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453555 ms (missed cycles : 7). + 15.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453555 ms (missed cycles : 7).[0m ×2 + 15.62sINFOobjective_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 + 15.62sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 15.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 15.62sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 15.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 15.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 15.62sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 15.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 15.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 15.63sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 15.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 16.22sWARNcontroller_managerOverrun might occur, Total time : 1929.922 us (Expected < 1666.667 us) --> Read time : 113.815 us, Update time : 1417.978 us, Write time : 398.129 us + 16.22sWARNros2_control_nodeOverrun might occur, Total time : 1929.922 us (Expected < 1666.667 us) --> Read time : 113.815 us, Update time : 1417.978 us, Write time : 398.129 us[0m ×2 + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571716 ms (missed cycles : 3). + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571716 ms (missed cycles : 3).[0m ×2 + 17.37sWARNcontroller_managerOverrun might occur, Total time : 3673.104 us (Expected < 1666.667 us) --> Read time : 169.498 us, Update time : 3045.904 us, Write time : 457.702 us + 17.37sWARNros2_control_nodeOverrun might occur, Total time : 3673.104 us (Expected < 1666.667 us) --> Read time : 169.498 us, Update time : 3045.904 us, Write time : 457.702 us[0m ×2 + 17.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.113584 ms (missed cycles : 5). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.113584 ms (missed cycles : 5).[0m ×2 + 18.46sWARNcontroller_managerOverrun might occur, Total time : 5610.956 us (Expected < 1666.667 us) --> Read time : 123.076 us, Update time : 4967.865 us, Write time : 520.015 us + 18.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785429 ms (missed cycles : 4). + 18.46sWARNros2_control_nodeOverrun might occur, Total time : 5610.956 us (Expected < 1666.667 us) --> Read time : 123.076 us, Update time : 4967.865 us, Write time : 520.015 us[0m ×2 + 18.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785429 ms (missed cycles : 4).[0m ×2 + 19.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881555 ms (missed cycles : 3). + 19.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881555 ms (missed cycles : 3).[0m ×2 + 19.70sWARNcontroller_managerOverrun might occur, Total time : 1728.263 us (Expected < 1666.667 us) --> Read time : 172.739 us, Update time : 1270.690 us, Write time : 284.834 us + 19.71sWARNros2_control_nodeOverrun might occur, Total time : 1728.263 us (Expected < 1666.667 us) --> Read time : 172.739 us, Update time : 1270.690 us, Write time : 284.834 us[0m ×2 + 20.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.089944 ms (missed cycles : 5). + 20.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.089944 ms (missed cycles : 5).[0m ×2 + 20.85sWARNcontroller_managerOverrun might occur, Total time : 3063.346 us (Expected < 1666.667 us) --> Read time : 99.955 us, Update time : 2633.865 us, Write time : 329.526 us + 20.85sWARNros2_control_nodeOverrun might occur, Total time : 3063.346 us (Expected < 1666.667 us) --> Read time : 99.955 us, Update time : 2633.865 us, Write time : 329.526 us[0m ×2 + 21.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474177 ms (missed cycles : 2). + 21.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474177 ms (missed cycles : 2).[0m ×2 + 21.97sWARNcontroller_managerOverrun might occur, Total time : 6098.219 us (Expected < 1666.667 us) --> Read time : 160.277 us, Update time : 5494.901 us, Write time : 443.041 us + 21.97sWARNros2_control_nodeOverrun might occur, Total time : 6098.219 us (Expected < 1666.667 us) --> Read time : 160.277 us, Update time : 5494.901 us, Write time : 443.041 us[0m ×2 + 22.41sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 22.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 22.41sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 22.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 22.41sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 22.41sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 22.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 22.41sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 22.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 22.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842089 ms (missed cycles : 2). + 22.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842089 ms (missed cycles : 2).[0m ×2 + 23.00sWARNcontroller_managerOverrun might occur, Total time : 1708.670 us (Expected < 1666.667 us) --> Read time : 176.738 us, Update time : 1284.501 us, Write time : 247.431 us + 23.00sWARNros2_control_nodeOverrun might occur, Total time : 1708.670 us (Expected < 1666.667 us) --> Read time : 176.738 us, Update time : 1284.501 us, Write time : 247.431 us[0m ×2 + 23.35sINFOros2_control_node[2026-06-03 15:04:38.970] [info] Received new action goal ×2 + 23.35sINFOros2_control_node[2026-06-03 15:04:38.970] [info] Accepted new action goal ×2 + 23.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.798880 ms (missed cycles : 6). + 23.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.798880 ms (missed cycles : 6).[0m ×2 + 24.53sINFOobjective_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 + 24.54sINFOobjective_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 + 24.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528435 ms (missed cycles : 3). + 24.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528435 ms (missed cycles : 3).[0m ×2 + 24.81sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). ×2 + 24.81sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 24.84sINFOros2_control_node[2026-06-03 15:04:40.452] [info] Received new action goal ×2 + 24.84sINFOros2_control_node[2026-06-03 15:04:40.452] [info] Accepted new action goal ×2 + 24.91sWARNcontroller_managerOverrun might occur, Total time : 6055.878 us (Expected < 1666.667 us) --> Read time : 125.986 us, Update time : 5469.250 us, Write time : 460.642 us + 24.91sWARNros2_control_nodeOverrun might occur, Total time : 6055.878 us (Expected < 1666.667 us) --> Read time : 125.986 us, Update time : 5469.250 us, Write time : 460.642 us[0m ×2 + 25.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930878 ms (missed cycles : 2). + 25.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930878 ms (missed cycles : 2).[0m ×2 + 26.06sWARNcontroller_managerOverrun might occur, Total time : 5986.745 us (Expected < 1666.667 us) --> Read time : 87.915 us, Update time : 5497.531 us, Write time : 401.299 us + 26.06sWARNros2_control_nodeOverrun might occur, Total time : 5986.745 us (Expected < 1666.667 us) --> Read time : 87.915 us, Update time : 5497.531 us, Write time : 401.299 us[0m ×2 + 26.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595683 ms (missed cycles : 4). + 26.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595683 ms (missed cycles : 4).[0m ×2 + 26.95sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 26.95sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 26.95sINFOros2_control_node[2026-06-03 15:04:42.571] [info] Received new action goal ×2 + 26.96sINFOros2_control_node[2026-06-03 15:04:42.571] [info] Accepted new action goal ×2 + 27.60sWARNcontroller_managerOverrun might occur, Total time : 1784.014 us (Expected < 1666.667 us) --> Read time : 369.798 us, Update time : 604.808 us, Write time : 809.408 us + 27.60sWARNros2_control_nodeOverrun might occur, Total time : 1784.014 us (Expected < 1666.667 us) --> Read time : 369.798 us, Update time : 604.808 us, Write time : 809.408 us[0m ×2 + 27.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369679 ms (missed cycles : 3). + 27.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369679 ms (missed cycles : 3).[0m ×2 + 28.85sWARNcontroller_managerOverrun might occur, Total time : 1726.142 us (Expected < 1666.667 us) --> Read time : 124.186 us, Update time : 1269.470 us, Write time : 332.486 us + 28.86sWARNros2_control_nodeOverrun might occur, Total time : 1726.142 us (Expected < 1666.667 us) --> Read time : 124.186 us, Update time : 1269.470 us, Write time : 332.486 us[0m ×2 + 28.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854421 ms (missed cycles : 2). + 28.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854421 ms (missed cycles : 2).[0m ×2 + 29.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766667 ms (missed cycles : 2). + 29.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766667 ms (missed cycles : 2).[0m ×2 + 29.99sINFOros2_control_node[2026-06-03 15:04:45.606] [info] Received new action goal ×2 + 29.99sINFOros2_control_node[2026-06-03 15:04:45.606] [info] Accepted new action goal ×2 + 30.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157782 ms (missed cycles : 2). + 30.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157782 ms (missed cycles : 2).[0m ×2 + 31.14sWARNcontroller_managerOverrun might occur, Total time : 9431.088 us (Expected < 1666.667 us) --> Read time : 135.077 us, Update time : 8808.098 us, Write time : 487.913 us + 31.14sWARNros2_control_nodeOverrun might occur, Total time : 9431.088 us (Expected < 1666.667 us) --> Read time : 135.077 us, Update time : 8808.098 us, Write time : 487.913 us[0m ×2 + 31.57sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.23% of iterations over budget over 2:10.008 of wall time (91/40180). Below 1% is expected on a non-realtime system.[0m ×2 + 31.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405169 ms (missed cycles : 4). + 31.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405169 ms (missed cycles : 4).[0m ×2 + 32.58sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 32.58sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 32.61sINFOros2_control_node[2026-06-03 15:04:48.223] [info] Received new action goal ×2 + 32.61sINFOros2_control_node[2026-06-03 15:04:48.223] [info] Accepted new action goal ×2 + 32.67sWARNcontroller_managerOverrun might occur, Total time : 3412.112 us (Expected < 1666.667 us) --> Read time : 83.184 us, Update time : 2963.071 us, Write time : 365.857 us + 32.68sWARNros2_control_nodeOverrun might occur, Total time : 3412.112 us (Expected < 1666.667 us) --> Read time : 83.184 us, Update time : 2963.071 us, Write time : 365.857 us[0m ×2 + 32.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066097 ms (missed cycles : 5). + 32.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066097 ms (missed cycles : 5).[0m ×2 + 33.94sWARNcontroller_managerOverrun might occur, Total time : 4443.352 us (Expected < 1666.667 us) --> Read time : 161.358 us, Update time : 3773.060 us, Write time : 508.934 us + 33.95sWARNros2_control_nodeOverrun might occur, Total time : 4443.352 us (Expected < 1666.667 us) --> Read time : 161.358 us, Update time : 3773.060 us, Write time : 508.934 us[0m ×2 + 34.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.166017 ms (missed cycles : 5). + 34.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.166017 ms (missed cycles : 5).[0m ×2 + 35.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.706712 ms (missed cycles : 3). + 35.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.706712 ms (missed cycles : 3).[0m ×2 + 35.65sWARNcontroller_managerOverrun might occur, Total time : 4940.095 us (Expected < 1666.667 us) --> Read time : 140.477 us, Update time : 4449.971 us, Write time : 349.647 us + 35.66sWARNros2_control_nodeOverrun might occur, Total time : 4940.095 us (Expected < 1666.667 us) --> Read time : 140.477 us, Update time : 4449.971 us, Write time : 349.647 us[0m ×2 + 36.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431846 ms (missed cycles : 3). + 36.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431846 ms (missed cycles : 3).[0m ×2 + 37.02sWARNcontroller_managerOverrun might occur, Total time : 4429.420 us (Expected < 1666.667 us) --> Read time : 141.537 us, Update time : 3856.323 us, Write time : 431.560 us + 37.02sWARNros2_control_nodeOverrun might occur, Total time : 4429.420 us (Expected < 1666.667 us) --> Read time : 141.537 us, Update time : 3856.323 us, Write time : 431.560 us[0m ×2 + 37.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.578928 ms (missed cycles : 7). + 37.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.578928 ms (missed cycles : 7).[0m ×2 + 38.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926459 ms (missed cycles : 2). + 38.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926459 ms (missed cycles : 2).[0m ×2 + 38.62sWARNcontroller_managerOverrun might occur, Total time : 2762.471 us (Expected < 1666.667 us) --> Read time : 109.095 us, Update time : 2271.588 us, Write time : 381.788 us + 38.62sWARNros2_control_nodeOverrun might occur, Total time : 2762.471 us (Expected < 1666.667 us) --> Read time : 109.095 us, Update time : 2271.588 us, Write time : 381.788 us[0m ×2 + 39.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879489 ms (missed cycles : 3). + 39.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879489 ms (missed cycles : 3).[0m ×2 + 39.72sWARNcontroller_managerOverrun might occur, Total time : 2553.371 us (Expected < 1666.667 us) --> Read time : 123.806 us, Update time : 2043.837 us, Write time : 385.728 us + 39.72sWARNros2_control_nodeOverrun might occur, Total time : 2553.371 us (Expected < 1666.667 us) --> Read time : 123.806 us, Update time : 2043.837 us, Write time : 385.728 us[0m ×2 + 40.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473600 ms (missed cycles : 2). + 40.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473600 ms (missed cycles : 2).[0m ×2 + 40.80sWARNcontroller_managerOverrun might occur, Total time : 4908.312 us (Expected < 1666.667 us) --> Read time : 198.319 us, Update time : 4163.357 us, Write time : 546.636 us + 40.80sWARNros2_control_nodeOverrun might occur, Total time : 4908.312 us (Expected < 1666.667 us) --> Read time : 198.319 us, Update time : 4163.357 us, Write time : 546.636 us[0m ×2 + 41.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.565321 ms (missed cycles : 3). + 41.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.565321 ms (missed cycles : 3).[0m ×2 + 41.92sWARNcontroller_managerOverrun might occur, Total time : 4355.997 us (Expected < 1666.667 us) --> Read time : 133.207 us, Update time : 3832.952 us, Write time : 389.838 us + 41.92sWARNros2_control_nodeOverrun might occur, Total time : 4355.997 us (Expected < 1666.667 us) --> Read time : 133.207 us, Update time : 3832.952 us, Write time : 389.838 us[0m ×2 + 42.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778279 ms (missed cycles : 3). + 42.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778279 ms (missed cycles : 3).[0m ×2 + 43.27sINFOros2_control_node[2026-06-03 15:04:58.890] [info] Received new action goal ×2 + 43.27sINFOros2_control_node[2026-06-03 15:04:58.890] [info] Accepted new action goal ×2 + 43.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870587 ms (missed cycles : 2). + 43.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870587 ms (missed cycles : 2).[0m ×2 + 43.41sWARNcontroller_managerOverrun might occur, Total time : 1844.877 us (Expected < 1666.667 us) --> Read time : 143.706 us, Update time : 1383.256 us, Write time : 317.915 us + 43.41sWARNros2_control_nodeOverrun might occur, Total time : 1844.877 us (Expected < 1666.667 us) --> Read time : 143.706 us, Update time : 1383.256 us, Write time : 317.915 us[0m ×2 + 44.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462076 ms (missed cycles : 2). + 44.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462076 ms (missed cycles : 2).[0m ×2 + 44.43sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780499100.04669023 seconds ×3 + 44.88sWARNcontroller_managerOverrun might occur, Total time : 3266.654 us (Expected < 1666.667 us) --> Read time : 119.555 us, Update time : 2742.380 us, Write time : 404.719 us + 44.88sWARNros2_control_nodeOverrun might occur, Total time : 3266.654 us (Expected < 1666.667 us) --> Read time : 119.555 us, Update time : 2742.380 us, Write time : 404.719 us[0m ×2 + 45.14sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780499100.75565004 seconds. ×3 + 45.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.244339 ms (missed cycles : 5). + 45.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.244339 ms (missed cycles : 5).[0m ×2 + 45.55sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 45.55sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 45.93sWARNcontroller_managerOverrun might occur, Total time : 1782.984 us (Expected < 1666.667 us) --> Read time : 244.002 us, Update time : 1236.048 us, Write time : 302.934 us + 45.94sWARNros2_control_nodeOverrun might occur, Total time : 1782.984 us (Expected < 1666.667 us) --> Read time : 244.002 us, Update time : 1236.048 us, Write time : 302.934 us[0m ×2 + 46.35sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 46.36sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 46.37sINFOros2_control_node[2026-06-03 15:05:01.990] [info] Received new action goal ×2 + 46.37sINFOros2_control_node[2026-06-03 15:05:01.990] [info] Accepted new action goal ×2 + 46.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463950 ms (missed cycles : 3). + 46.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463950 ms (missed cycles : 3).[0m ×2 + 47.34sWARNcontroller_managerOverrun might occur, Total time : 2253.397 us (Expected < 1666.667 us) --> Read time : 97.465 us, Update time : 1925.441 us, Write time : 230.491 us + 47.34sWARNros2_control_nodeOverrun might occur, Total time : 2253.397 us (Expected < 1666.667 us) --> Read time : 97.465 us, Update time : 1925.441 us, Write time : 230.491 us[0m ×2 + 47.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475294 ms (missed cycles : 4). + 47.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475294 ms (missed cycles : 4).[0m ×2
✓ passed	Pick 1 Pill Bottle with SAM3	pick_1_pill_bottle_with_sam3.xml	29.1s	3 errors · 177 warnings · 235 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193803 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193803 ms (missed cycles : 2).[0m ×2 + 0.06sWARNcontroller_managerOverrun might occur, Total time : 5404.227 us (Expected < 1666.667 us) --> Read time : 159.868 us, Update time : 4661.881 us, Write time : 582.478 us + 0.06sWARNros2_control_nodeOverrun might occur, Total time : 5404.227 us (Expected < 1666.667 us) --> Read time : 159.868 us, Update time : 4661.881 us, Write time : 582.478 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896445 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896445 ms (missed cycles : 2).[0m ×2 + 1.39sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 1.39sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m ×2 + 1.53sINFOobjective_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 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 3259.914 us (Expected < 1666.667 us) --> Read time : 297.364 us, Update time : 70.193 us, Write time : 2892.357 us + 1.55sWARNros2_control_nodeOverrun might occur, Total time : 3259.914 us (Expected < 1666.667 us) --> Read time : 297.364 us, Update time : 70.193 us, Write time : 2892.357 us[0m ×2 + 1.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 1.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 1.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 1.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 1.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 1.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.89sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 1.89sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708972 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708972 ms (missed cycles : 2).[0m ×2 + 2.57sWARNcontroller_managerOverrun might occur, Total time : 7749.997 us (Expected < 1666.667 us) --> Read time : 163.858 us, Update time : 7166.949 us, Write time : 419.190 us + 2.58sWARNros2_control_nodeOverrun might occur, Total time : 7749.997 us (Expected < 1666.667 us) --> Read time : 163.858 us, Update time : 7166.949 us, Write time : 419.190 us[0m ×2 + 2.60sERRORobjective_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 + 2.60sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780499189.32651019 seconds ×3 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.60sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403555 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403555 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780499189.94893551 seconds. ×3 + 3.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 3.44sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.44sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 4.06sWARNcontroller_managerOverrun might occur, Total time : 1720.531 us (Expected < 1666.667 us) --> Read time : 140.306 us, Update time : 223.961 us, Write time : 1356.264 us + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 1720.531 us (Expected < 1666.667 us) --> Read time : 140.306 us, Update time : 223.961 us, Write time : 1356.264 us[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829637 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829637 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 7 iterations (0.00466784 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] ×2 + 4.43sINFOros2_control_node[2026-06-03 15:06:31.163] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-03 15:06:31.164] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun might occur, Total time : 1700.801 us (Expected < 1666.667 us) --> Read time : 186.899 us, Update time : 1207.987 us, Write time : 305.915 us + 5.08sWARNros2_control_nodeOverrun might occur, Total time : 1700.801 us (Expected < 1666.667 us) --> Read time : 186.899 us, Update time : 1207.987 us, Write time : 305.915 us[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552909 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552909 ms (missed cycles : 3).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003256 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003256 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun might occur, Total time : 10700.547 us (Expected < 1666.667 us) --> Read time : 101.694 us, Update time : 10108.360 us, Write time : 490.493 us + 6.37sWARNros2_control_nodeOverrun might occur, Total time : 10700.547 us (Expected < 1666.667 us) --> Read time : 101.694 us, Update time : 10108.360 us, Write time : 490.493 us[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399902 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399902 ms (missed cycles : 2).[0m ×2 + 8.18sWARNcontroller_managerOverrun might occur, Total time : 4377.428 us (Expected < 1666.667 us) --> Read time : 176.249 us, Update time : 3806.580 us, Write time : 394.599 us + 8.18sWARNros2_control_nodeOverrun might occur, Total time : 4377.428 us (Expected < 1666.667 us) --> Read time : 176.249 us, Update time : 3806.580 us, Write time : 394.599 us[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400382 ms (missed cycles : 2). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400382 ms (missed cycles : 2).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.009766 ms (missed cycles : 8). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.009766 ms (missed cycles : 8).[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004853 ms (missed cycles : 2). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004853 ms (missed cycles : 2).[0m ×2 + 10.76sWARNcontroller_managerOverrun might occur, Total time : 12922.012 us (Expected < 1666.667 us) --> Read time : 171.718 us, Update time : 12189.538 us, Write time : 560.756 us + 10.76sWARNros2_control_nodeOverrun might occur, Total time : 12922.012 us (Expected < 1666.667 us) --> Read time : 171.718 us, Update time : 12189.538 us, Write time : 560.756 us[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192816 ms (missed cycles : 2). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192816 ms (missed cycles : 2).[0m ×2 + 11.92sWARNcontroller_managerOverrun might occur, Total time : 4493.583 us (Expected < 1666.667 us) --> Read time : 170.258 us, Update time : 3743.997 us, Write time : 579.328 us + 11.92sWARNros2_control_nodeOverrun might occur, Total time : 4493.583 us (Expected < 1666.667 us) --> Read time : 170.258 us, Update time : 3743.997 us, Write time : 579.328 us[0m ×2 + 12.07sINFOobjective_server_node[0;m[0;93m2026-06-03 15:06:38.795985223 [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 + 12.07sINFOobjective_server_node[0;93m2026-06-03 15:06:38.796014754 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625004 ms (missed cycles : 3). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625004 ms (missed cycles : 3).[0m ×2 + 12.53sINFOobjective_server_node[0;93m2026-06-03 15:06:39.263659108 [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 + 12.53sINFOobjective_server_node[0;93m2026-06-03 15:06:39.263691390 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.63sINFOobjective_server_node[0;93m2026-06-03 15:06:39.357523837 [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 + 12.63sINFOobjective_server_node[0;93m2026-06-03 15:06:39.359655588 [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 15:06:39.359674459 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.94sINFOobjective_server_node[0;93m2026-06-03 15:06:39.669390628 [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 + 12.96sINFOobjective_server_node[0;93m2026-06-03 15:06:39.692472168 [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 + 12.96sINFOobjective_server_node[0;93m2026-06-03 15:06:39.692508560 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.18sWARNcontroller_managerOverrun might occur, Total time : 1832.086 us (Expected < 1666.667 us) --> Read time : 148.147 us, Update time : 1309.702 us, Write time : 374.237 us + 13.18sWARNros2_control_nodeOverrun might occur, Total time : 1832.086 us (Expected < 1666.667 us) --> Read time : 148.147 us, Update time : 1309.702 us, Write time : 374.237 us[0m ×2 + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821025 ms (missed cycles : 3). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821025 ms (missed cycles : 3).[0m ×2 + 14.02sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/masks_visualization" + 14.02sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/masks_visualization"[0m ×2 + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.135306 ms (missed cycles : 7). + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.135306 ms (missed cycles : 7).[0m ×2 + 14.59sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.30sWARNcontroller_managerOverrun might occur, Total time : 1985.103 us (Expected < 1666.667 us) --> Read time : 199.619 us, Update time : 1229.068 us, Write time : 556.416 us + 15.30sWARNros2_control_nodeOverrun might occur, Total time : 1985.103 us (Expected < 1666.667 us) --> Read time : 199.619 us, Update time : 1229.068 us, Write time : 556.416 us[0m ×2 + 15.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732823 ms (missed cycles : 2). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732823 ms (missed cycles : 2).[0m ×2 + 16.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.049170 ms (missed cycles : 5). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.049170 ms (missed cycles : 5).[0m ×2 + 16.70sWARNcontroller_managerOverrun might occur, Total time : 2654.785 us (Expected < 1666.667 us) --> Read time : 141.246 us, Update time : 2195.364 us, Write time : 318.175 us + 16.71sWARNros2_control_nodeOverrun might occur, Total time : 2654.785 us (Expected < 1666.667 us) --> Read time : 141.246 us, Update time : 2195.364 us, Write time : 318.175 us[0m ×2 + 17.29sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 17.45sINFOobjective_server_nodeFound path in 4 iterations (0.00199154 s). ×2 + 17.50sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 17.53sINFOobjective_server_nodeFound path in 12 iterations (0.00369834 s). ×2 + 17.56sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/solution" + 17.56sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/solution"[0m ×2 + 17.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 17.61sINFOobjective_server_nodeFound path in 2 iterations (0.00267043 s). ×2 + 17.64sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] ×2 + 17.66sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 17.68sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815834 ms (missed cycles : 3). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815834 ms (missed cycles : 3).[0m ×2 + 17.69sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 17.71sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 17.73sINFOobjective_server_nodeFound path in 12 iterations (0.00404718 s). ×2 + 17.77sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] ×2 + 17.79sINFOobjective_server_nodeFound path in 1 iterations (0.00316461 s). ×2 + 17.82sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] ×2 + 17.84sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). ×2 + 17.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 17.88sINFOobjective_server_nodeFound path in 4 iterations (0.00341571 s). ×2 + 17.94sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 17.97sINFOobjective_server_nodeFound path in 4 iterations (0.00307788 s). ×2 + 18.03sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X______________________X] ×2 + 18.05sINFOobjective_server_nodeFound path in 1 iterations (0.00493448 s). ×2 + 18.05sWARNcontroller_managerOverrun might occur, Total time : 4352.426 us (Expected < 1666.667 us) --> Read time : 124.596 us, Update time : 3865.293 us, Write time : 362.537 us + 18.06sWARNros2_control_nodeOverrun might occur, Total time : 4352.426 us (Expected < 1666.667 us) --> Read time : 124.596 us, Update time : 3865.293 us, Write time : 362.537 us[0m ×2 + 18.09sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 18.12sINFOobjective_server_nodeFound path in 1 iterations (0.00263953 s). ×2 + 18.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X_________________________X] ×2 + 18.21sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 18.23sINFOobjective_server_nodeFound path in 1 iterations (0.00323546 s). ×2 + 18.32sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_____________________________X] ×2 + 18.34sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 18.37sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 18.41sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 18.46sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 18.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 18.51sINFOros2_control_node[2026-06-03 15:06:45.235] [info] Received new action goal ×2 + 18.51sINFOros2_control_node[2026-06-03 15:06:45.235] [info] Accepted new action goal ×2 + 18.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.523005 ms (missed cycles : 5). + 18.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.523005 ms (missed cycles : 5).[0m ×2 + 19.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382566 ms (missed cycles : 5). + 19.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382566 ms (missed cycles : 5).[0m ×2 + 20.23sWARNcontroller_managerOverrun might occur, Total time : 6119.810 us (Expected < 1666.667 us) --> Read time : 159.927 us, Update time : 5510.562 us, Write time : 449.321 us + 20.24sWARNros2_control_nodeOverrun might occur, Total time : 6119.810 us (Expected < 1666.667 us) --> Read time : 159.927 us, Update time : 5510.562 us, Write time : 449.321 us[0m ×2 + 20.46sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 4:10.011 of wall time (327/77109). Below 1% is expected on a non-realtime system.[0m ×2 + 20.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402543 ms (missed cycles : 4). + 20.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402543 ms (missed cycles : 4).[0m ×2 + 21.73sWARNcontroller_managerOverrun might occur, Total time : 1843.728 us (Expected < 1666.667 us) --> Read time : 92.535 us, Update time : 1491.090 us, Write time : 260.103 us + 21.73sWARNros2_control_nodeOverrun might occur, Total time : 1843.728 us (Expected < 1666.667 us) --> Read time : 92.535 us, Update time : 1491.090 us, Write time : 260.103 us[0m ×2 + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.117389 ms (missed cycles : 5). + 21.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.117389 ms (missed cycles : 5).[0m ×2 + 22.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.207335 ms (missed cycles : 5). + 22.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.207335 ms (missed cycles : 5).[0m ×2 + 23.25sWARNcontroller_managerOverrun might occur, Total time : 2038.226 us (Expected < 1666.667 us) --> Read time : 125.596 us, Update time : 1709.541 us, Write time : 203.089 us + 23.25sWARNros2_control_nodeOverrun might occur, Total time : 2038.226 us (Expected < 1666.667 us) --> Read time : 125.596 us, Update time : 1709.541 us, Write time : 203.089 us[0m ×2 + 23.52sINFOros2_control_node[2026-06-03 15:06:50.247] [info] Received new action goal ×2 + 23.52sINFOros2_control_node[2026-06-03 15:06:50.247] [info] Accepted new action goal ×2 + 23.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816806 ms (missed cycles : 4). + 23.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816806 ms (missed cycles : 4).[0m ×2 + 24.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.071861 ms (missed cycles : 5). + 24.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.071861 ms (missed cycles : 5).[0m ×2 + 25.20sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 25.21sINFOros2_control_node[2026-06-03 15:06:51.942] [info] Received new action goal ×2 + 25.21sINFOros2_control_node[2026-06-03 15:06:51.942] [info] Accepted new action goal ×2 + 25.49sWARNcontroller_managerOverrun might occur, Total time : 2867.276 us (Expected < 1666.667 us) --> Read time : 95.715 us, Update time : 2465.416 us, Write time : 306.145 us + 25.49sWARNros2_control_nodeOverrun might occur, Total time : 2867.276 us (Expected < 1666.667 us) --> Read time : 95.715 us, Update time : 2465.416 us, Write time : 306.145 us[0m ×2 + 26.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139341 ms (missed cycles : 2). + 26.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139341 ms (missed cycles : 2).[0m ×2 + 26.41sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 26.45sINFOros2_control_node[2026-06-03 15:06:53.184] [info] Received new action goal ×2 + 26.45sINFOros2_control_node[2026-06-03 15:06:53.184] [info] Accepted new action goal ×2 + 26.99sWARNcontroller_managerOverrun might occur, Total time : 1737.652 us (Expected < 1666.667 us) --> Read time : 107.295 us, Update time : 1356.374 us, Write time : 273.983 us + 27.00sWARNros2_control_nodeOverrun might occur, Total time : 1737.652 us (Expected < 1666.667 us) --> Read time : 107.295 us, Update time : 1356.374 us, Write time : 273.983 us[0m ×2 + 27.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276170 ms (missed cycles : 2). + 27.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276170 ms (missed cycles : 2).[0m ×2 + 28.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535578 ms (missed cycles : 4). + 28.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535578 ms (missed cycles : 4).[0m ×2 + 28.41sWARNcontroller_managerOverrun might occur, Total time : 3456.534 us (Expected < 1666.667 us) --> Read time : 104.175 us, Update time : 3035.314 us, Write time : 317.045 us + 28.41sWARNros2_control_nodeOverrun might occur, Total time : 3456.534 us (Expected < 1666.667 us) --> Read time : 104.175 us, Update time : 3035.314 us, Write time : 317.045 us[0m ×2 + 29.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134950 ms (missed cycles : 2). + 29.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134950 ms (missed cycles : 2).[0m ×2 + 29.63sWARNcontroller_managerOverrun might occur, Total time : 4521.304 us (Expected < 1666.667 us) --> Read time : 120.116 us, Update time : 3859.932 us, Write time : 541.256 us + 29.64sWARNros2_control_nodeOverrun might occur, Total time : 4521.304 us (Expected < 1666.667 us) --> Read time : 120.116 us, Update time : 3859.932 us, Write time : 541.256 us[0m ×2 + 30.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219879 ms (missed cycles : 4). + 30.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219879 ms (missed cycles : 4).[0m ×2 + 30.78sWARNcontroller_managerOverrun might occur, Total time : 1856.508 us (Expected < 1666.667 us) --> Read time : 150.337 us, Update time : 1285.471 us, Write time : 420.700 us + 30.79sWARNros2_control_nodeOverrun might occur, Total time : 1856.508 us (Expected < 1666.667 us) --> Read time : 150.337 us, Update time : 1285.471 us, Write time : 420.700 us[0m ×2 + 31.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325251 ms (missed cycles : 4). + 31.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325251 ms (missed cycles : 4).[0m ×2 + 31.66sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780499218.38918114 seconds ×3 + 31.98sWARNcontroller_managerOverrun might occur, Total time : 4336.026 us (Expected < 1666.667 us) --> Read time : 101.375 us, Update time : 3892.194 us, Write time : 342.457 us + 31.98sWARNros2_control_nodeOverrun might occur, Total time : 4336.026 us (Expected < 1666.667 us) --> Read time : 101.375 us, Update time : 3892.194 us, Write time : 342.457 us[0m ×2 + 32.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.882262 ms (missed cycles : 5). + 32.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.882262 ms (missed cycles : 5).[0m ×2 + 32.34sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780499219.07032299 seconds. ×3 + 32.54sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 32.54sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 32.55sINFOros2_control_node[2026-06-03 15:06:59.282] [info] Received new action goal ×2 + 32.55sINFOros2_control_node[2026-06-03 15:06:59.282] [info] Accepted new action goal ×2 + 32.71sINFOfoxglove_bridgeRemoving channel 82 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 32.71sINFOfoxglove_bridgeRemoving channel 81 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 32.71sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/preview_solution" + 32.71sINFOfoxglove_bridgeRemoving channel 82 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 32.71sINFOfoxglove_bridgeRemoving channel 81 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 32.71sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/preview_solution"[0m ×2 + 33.15sWARNcontroller_managerOverrun might occur, Total time : 2534.560 us (Expected < 1666.667 us) --> Read time : 112.795 us, Update time : 2001.605 us, Write time : 420.160 us + 33.15sWARNros2_control_nodeOverrun might occur, Total time : 2534.560 us (Expected < 1666.667 us) --> Read time : 112.795 us, Update time : 2001.605 us, Write time : 420.160 us[0m ×2 + 33.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360600 ms (missed cycles : 3). + 33.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360600 ms (missed cycles : 3).[0m ×2 + 34.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253752 ms (missed cycles : 4). + 34.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253752 ms (missed cycles : 4).[0m ×2 + 34.72sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/pcd_pointcloud_captures" + 34.72sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/pcd_pointcloud_captures"[0m ×2 + 34.95sWARNcontroller_managerOverrun might occur, Total time : 2286.958 us (Expected < 1666.667 us) --> Read time : 108.065 us, Update time : 1927.171 us, Write time : 251.722 us + 34.95sWARNros2_control_nodeOverrun might occur, Total time : 2286.958 us (Expected < 1666.667 us) --> Read time : 108.065 us, Update time : 1927.171 us, Write time : 251.722 us[0m ×2 + 35.23sINFOfoxglove_bridgeRemoving channel 84 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 35.23sINFOfoxglove_bridgeRemoving channel 84 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 35.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280013 ms (missed cycles : 4). + 35.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280013 ms (missed cycles : 4).[0m ×2
✓ passed	Pick April Tag Labeled Object	apriltag_pick_object.xml	23.5s	3 errors · 147 warnings · 138 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3461.014 us (Expected < 1666.667 us) --> Read time : 2960.361 us, Update time : 67.693 us, Write time : 432.960 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3461.014 us (Expected < 1666.667 us) --> Read time : 2960.361 us, Update time : 67.693 us, Write time : 432.960 us[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886330 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886330 ms (missed cycles : 3).[0m ×2 + 1.38sWARNcontroller_managerOverrun might occur, Total time : 6122.752 us (Expected < 1666.667 us) --> Read time : 149.738 us, Update time : 5427.668 us, Write time : 545.346 us + 1.38sWARNros2_control_nodeOverrun might occur, Total time : 6122.752 us (Expected < 1666.667 us) --> Read time : 149.738 us, Update time : 5427.668 us, Write time : 545.346 us[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.49sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 1.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.50sINFOros2_control_node[2026-06-03 15:02:55.322] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-06-03 15:02:55.322] [info] Accepted new action goal ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623931 ms (missed cycles : 4). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623931 ms (missed cycles : 4).[0m ×2 + 2.07sINFOros2_control_node[2026-06-03 15:02:55.888] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-06-03 15:02:55.888] [info] Canceling active goal... ×2 + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780498975.90337992 seconds ×3 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.42sWARNcontroller_managerOverrun might occur, Total time : 2280.149 us (Expected < 1666.667 us) --> Read time : 164.548 us, Update time : 751.616 us, Write time : 1363.985 us + 2.42sWARNros2_control_nodeOverrun might occur, Total time : 2280.149 us (Expected < 1666.667 us) --> Read time : 164.548 us, Update time : 751.616 us, Write time : 1363.985 us[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780498976.44973707 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780498976.57987142 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309450 ms (missed cycles : 5). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309450 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780498977.15401053 seconds. ×3 + 3.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.71sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.71sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.81sWARNcontroller_managerOverrun might occur, Total time : 1685.860 us (Expected < 1666.667 us) --> Read time : 111.115 us, Update time : 1288.281 us, Write time : 286.464 us + 3.81sWARNros2_control_nodeOverrun might occur, Total time : 1685.860 us (Expected < 1666.667 us) --> Read time : 111.115 us, Update time : 1288.281 us, Write time : 286.464 us[0m ×2 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709841 ms (missed cycles : 2). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709841 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.51sINFOros2_control_node[2026-06-03 15:02:58.337] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-06-03 15:02:58.337] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698173 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698173 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun might occur, Total time : 4853.369 us (Expected < 1666.667 us) --> Read time : 168.688 us, Update time : 4175.037 us, Write time : 509.644 us + 5.54sWARNros2_control_nodeOverrun might occur, Total time : 4853.369 us (Expected < 1666.667 us) --> Read time : 168.688 us, Update time : 4175.037 us, Write time : 509.644 us[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723581 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723581 ms (missed cycles : 2).[0m ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333171 ms (missed cycles : 2). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333171 ms (missed cycles : 2).[0m ×2 + 8.04sWARNcontroller_managerOverrun might occur, Total time : 1895.690 us (Expected < 1666.667 us) --> Read time : 147.537 us, Update time : 1431.868 us, Write time : 316.285 us + 8.04sWARNros2_control_nodeOverrun might occur, Total time : 1895.690 us (Expected < 1666.667 us) --> Read time : 147.537 us, Update time : 1431.868 us, Write time : 316.285 us[0m ×2 + 8.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124770 ms (missed cycles : 4). + 8.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124770 ms (missed cycles : 4).[0m ×2 + 9.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.690992 ms (missed cycles : 5). + 9.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.690992 ms (missed cycles : 5).[0m ×2 + 9.38sWARNcontroller_managerOverrun might occur, Total time : 9375.952 us (Expected < 1666.667 us) --> Read time : 129.435 us, Update time : 8754.204 us, Write time : 492.313 us + 9.38sWARNros2_control_nodeOverrun might occur, Total time : 9375.952 us (Expected < 1666.667 us) --> Read time : 129.435 us, Update time : 8754.204 us, Write time : 492.313 us[0m ×2 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.475643 ms (missed cycles : 7). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.475643 ms (missed cycles : 7).[0m ×2 + 11.16sWARNcontroller_managerOverrun might occur, Total time : 2028.546 us (Expected < 1666.667 us) --> Read time : 168.668 us, Update time : 1500.071 us, Write time : 359.807 us + 11.16sWARNros2_control_nodeOverrun might occur, Total time : 2028.546 us (Expected < 1666.667 us) --> Read time : 168.668 us, Update time : 1500.071 us, Write time : 359.807 us[0m ×2 + 11.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.905661 ms (missed cycles : 8). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.905661 ms (missed cycles : 8).[0m ×2 + 12.20sWARNcontroller_managerOverrun might occur, Total time : 2179.813 us (Expected < 1666.667 us) --> Read time : 192.289 us, Update time : 1530.672 us, Write time : 456.852 us + 12.20sWARNros2_control_nodeOverrun might occur, Total time : 2179.813 us (Expected < 1666.667 us) --> Read time : 192.289 us, Update time : 1530.672 us, Write time : 456.852 us[0m ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409208 ms (missed cycles : 4). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409208 ms (missed cycles : 4).[0m ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931249 ms (missed cycles : 5). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931249 ms (missed cycles : 5).[0m ×2 + 13.72sWARNcontroller_managerOverrun might occur, Total time : 3239.544 us (Expected < 1666.667 us) --> Read time : 169.508 us, Update time : 2692.988 us, Write time : 377.048 us + 13.72sWARNros2_control_nodeOverrun might occur, Total time : 3239.544 us (Expected < 1666.667 us) --> Read time : 169.508 us, Update time : 2692.988 us, Write time : 377.048 us[0m ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025540 ms (missed cycles : 2). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025540 ms (missed cycles : 2).[0m ×2 + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791886 ms (missed cycles : 2). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791886 ms (missed cycles : 2).[0m ×2 + 15.65sWARNcontroller_managerOverrun might occur, Total time : 6006.405 us (Expected < 1666.667 us) --> Read time : 200.990 us, Update time : 5379.515 us, Write time : 425.900 us + 15.66sWARNros2_control_nodeOverrun might occur, Total time : 6006.405 us (Expected < 1666.667 us) --> Read time : 200.990 us, Update time : 5379.515 us, Write time : 425.900 us[0m ×2 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710286 ms (missed cycles : 3). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710286 ms (missed cycles : 3).[0m ×2 + 16.86sWARNcontroller_managerOverrun might occur, Total time : 2498.399 us (Expected < 1666.667 us) --> Read time : 112.185 us, Update time : 2092.240 us, Write time : 293.974 us + 16.87sWARNros2_control_nodeOverrun might occur, Total time : 2498.399 us (Expected < 1666.667 us) --> Read time : 112.185 us, Update time : 2092.240 us, Write time : 293.974 us[0m ×2 + 17.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591222 ms (missed cycles : 2). + 17.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591222 ms (missed cycles : 2).[0m ×2 + 18.31sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/pcd_pointcloud_captures" + 18.31sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/pcd_pointcloud_captures"[0m ×2 + 18.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787586 ms (missed cycles : 3). + 18.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787586 ms (missed cycles : 3).[0m ×2 + 18.82sINFOfoxglove_bridgeRemoving channel 67 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 18.82sINFOfoxglove_bridgeRemoving channel 67 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 19.35sWARNcontroller_managerOverrun might occur, Total time : 2850.895 us (Expected < 1666.667 us) --> Read time : 173.328 us, Update time : 2335.291 us, Write time : 342.276 us + 19.35sWARNros2_control_nodeOverrun might occur, Total time : 2850.895 us (Expected < 1666.667 us) --> Read time : 173.328 us, Update time : 2335.291 us, Write time : 342.276 us[0m ×2 + 19.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.390103 ms (missed cycles : 4). + 19.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.390103 ms (missed cycles : 4).[0m ×2 + 20.10sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 20.10sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 20.10sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 20.34sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 20.34sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m ×2 + 20.37sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 20.38sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 20.38sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 20.40sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 20.43sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 20.45sINFOobjective_server_nodeFound path in 1 iterations (0.00195682 s). ×2 + 20.51sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 20.56sINFOros2_control_node[2026-06-03 15:03:14.384] [info] Received new action goal ×2 + 20.56sINFOros2_control_node[2026-06-03 15:03:14.384] [info] Accepted new action goal ×2 + 20.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.391704 ms (missed cycles : 7). + 20.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.391704 ms (missed cycles : 7).[0m ×2 + 20.90sWARNcontroller_managerOverrun might occur, Total time : 5090.241 us (Expected < 1666.667 us) --> Read time : 139.667 us, Update time : 993.117 us, Write time : 3957.457 us + 20.90sWARNros2_control_nodeOverrun might occur, Total time : 5090.241 us (Expected < 1666.667 us) --> Read time : 139.667 us, Update time : 993.117 us, Write time : 3957.457 us[0m ×2 + 21.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.742226 ms (missed cycles : 6). + 21.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.742226 ms (missed cycles : 6).[0m ×2 + 22.49sWARNcontroller_managerOverrun might occur, Total time : 2926.968 us (Expected < 1666.667 us) --> Read time : 151.477 us, Update time : 2351.171 us, Write time : 424.320 us + 22.49sWARNros2_control_nodeOverrun might occur, Total time : 2926.968 us (Expected < 1666.667 us) --> Read time : 151.477 us, Update time : 2351.171 us, Write time : 424.320 us[0m ×2 + 22.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994816 ms (missed cycles : 2). + 22.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994816 ms (missed cycles : 2).[0m ×2 + 23.09sINFOros2_control_node[2026-06-03 15:03:16.913] [info] Received new action goal ×2 + 23.09sINFOros2_control_node[2026-06-03 15:03:16.913] [info] Accepted new action goal ×2 + 23.61sWARNcontroller_managerOverrun might occur, Total time : 6023.355 us (Expected < 1666.667 us) --> Read time : 142.757 us, Update time : 5458.298 us, Write time : 422.300 us + 23.61sWARNros2_control_nodeOverrun might occur, Total time : 6023.355 us (Expected < 1666.667 us) --> Read time : 142.757 us, Update time : 5458.298 us, Write time : 422.300 us[0m ×2 + 23.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101474 ms (missed cycles : 2). + 23.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101474 ms (missed cycles : 2).[0m ×2 + 24.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.535305 ms (missed cycles : 7). + 24.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.535305 ms (missed cycles : 7).[0m ×2 + 24.87sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 24.87sINFOros2_control_node[2026-06-03 15:03:18.697] [info] Received new action goal ×2 + 24.87sINFOros2_control_node[2026-06-03 15:03:18.697] [info] Accepted new action goal ×2 + 25.00sWARNcontroller_managerOverrun might occur, Total time : 2590.353 us (Expected < 1666.667 us) --> Read time : 270.783 us, Update time : 1983.474 us, Write time : 336.096 us + 25.00sWARNros2_control_nodeOverrun might occur, Total time : 2590.353 us (Expected < 1666.667 us) --> Read time : 270.783 us, Update time : 1983.474 us, Write time : 336.096 us[0m ×2 + 25.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.674158 ms (missed cycles : 6). + 25.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.674158 ms (missed cycles : 6).[0m ×2 + 26.26sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780499000.08417225 seconds ×3 + 26.36sWARNcontroller_managerOverrun might occur, Total time : 6024.636 us (Expected < 1666.667 us) --> Read time : 90.355 us, Update time : 5556.983 us, Write time : 377.298 us + 26.36sWARNros2_control_nodeOverrun might occur, Total time : 6024.636 us (Expected < 1666.667 us) --> Read time : 90.355 us, Update time : 5556.983 us, Write time : 377.298 us[0m ×2 + 26.84sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780499000.65875721 seconds. ×3 + 26.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299470 ms (missed cycles : 4). + 26.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299470 ms (missed cycles : 4).[0m ×2 + 26.92sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 26.92sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 26.92sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780499000.74392748 seconds ×3 + 27.48sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780499001.30694079 seconds. ×3 + 27.52sWARNcontroller_managerOverrun might occur, Total time : 2434.856 us (Expected < 1666.667 us) --> Read time : 114.766 us, Update time : 1967.083 us, Write time : 353.007 us + 27.52sWARNros2_control_nodeOverrun might occur, Total time : 2434.856 us (Expected < 1666.667 us) --> Read time : 114.766 us, Update time : 1967.083 us, Write time : 353.007 us[0m ×2 + 27.57sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 27.58sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 27.59sINFOros2_control_node[2026-06-03 15:03:21.411] [info] Received new action goal ×2 + 27.59sINFOros2_control_node[2026-06-03 15:03:21.411] [info] Accepted new action goal ×2 + 27.92sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 27.92sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 28.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478879 ms (missed cycles : 5). + 28.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478879 ms (missed cycles : 5).[0m ×2 + 28.71sWARNcontroller_managerOverrun might occur, Total time : 6020.516 us (Expected < 1666.667 us) --> Read time : 129.287 us, Update time : 5470.439 us, Write time : 420.790 us + 28.72sWARNros2_control_nodeOverrun might occur, Total time : 6020.516 us (Expected < 1666.667 us) --> Read time : 129.287 us, Update time : 5470.439 us, Write time : 420.790 us[0m ×2 + 29.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060940 ms (missed cycles : 2). + 29.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060940 ms (missed cycles : 2).[0m ×2 + 30.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183714 ms (missed cycles : 2). + 30.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183714 ms (missed cycles : 2).[0m ×2
✓ passed	MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml	21.0s	6054 errors · 150 warnings · 10349 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2717 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.545526409816176 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×5434 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.545526409816176[0m ×2 + 0.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.152216398550330 + 0.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.152216398550330[0m ×2 + 0.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.224678071144432 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.224678071144432[0m ×2 + 0.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.537388428361247 + 0.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.537388428361247[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.537930209109980 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.537930209109980[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.739700026221946 + 0.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.739700026221946[0m ×2 + 0.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.100975395463831 + 0.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.100975395463831[0m ×2 + 0.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.174228291061119 + 0.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.174228291061119[0m ×2 + 0.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.094138037379370 + 0.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.094138037379370[0m ×2 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.784132848805323 + 0.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.784132848805323[0m ×2 + 0.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.343026963230248 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.343026963230248[0m ×2 + 0.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.904081863043788 + 0.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.904081863043788[0m ×2 + 0.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.466624266836609 ×2 + 0.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.466624266836609[0m ×4 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.031709976983914 + 0.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.031709976983914[0m ×2 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.403283338356633 + 0.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.403283338356633[0m ×2 + 0.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.835764083390428 + 0.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.835764083390428[0m ×2 + 0.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.699781443685870 + 0.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.699781443685870[0m ×2 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.130653457422683 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.130653457422683[0m ×2 + 0.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.561989989272377 + 0.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.561989989272377[0m ×2 + 0.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.992777177702353 + 0.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.992777177702353[0m ×2 + 0.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.423798104448595 + 0.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.423798104448595[0m ×2 + 0.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.853716466775996 + 0.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.853716466775996[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.681692775901400 + 0.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.681692775901400[0m ×2 + 0.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.681678420441241 + 0.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.681678420441241[0m ×2 + 0.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.115769311940952 + 0.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.115769311940952[0m ×2 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.550542366290468 + 0.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.550542366290468[0m ×2 + 0.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.418724321826168 + 0.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.418724321826168[0m ×2 + 0.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.852825216863906 + 0.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.852825216863906[0m ×2 + 0.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.285731169927761 + 0.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.285731169927761[0m ×2 + 0.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.717054705077256 + 0.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.717054705077256[0m ×2 + 0.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.123481126095580 + 0.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.123481126095580[0m ×2 + 0.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.991328132867338 + 0.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.991328132867338[0m ×2 + 0.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.425803364350099 + 0.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.425803364350099[0m ×2 + 0.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.859818586134082 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.859818586134082[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.674317786029162 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.674317786029162[0m ×2 + 0.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.245857080494991 + 0.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.245857080494991[0m ×2 + 0.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.817704854274499 + 0.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.817704854274499[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.388913037838242 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.388913037838242[0m ×2 + 0.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.039888982224558 + 0.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.039888982224558[0m ×2 + 0.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.469619135131161 + 0.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.469619135131161[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.315042733900364 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.315042733900364[0m ×2 + 0.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.168801399503636 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.168801399503636[0m ×2 + 0.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.597488896064672 + 0.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.597488896064672[0m ×2 + 0.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.025992349564531 + 0.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.025992349564531[0m ×2 + 0.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.487475110761938 + 0.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.487475110761938[0m ×2 + 0.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.909238111876592 + 0.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.909238111876592[0m ×2 + 0.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.331574086344427 + 0.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.331574086344427[0m ×2 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.758140132772137 + 0.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.758140132772137[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.184731875727771 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.184731875727771[0m ×2 + 0.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.604226330591768 + 0.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.604226330591768[0m ×2 + 0.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.065325453683524 + 0.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.065325453683524[0m ×2 + 0.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.887353992641398 + 0.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.887353992641398[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.455087131054068 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.455087131054068[0m ×2 + 0.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.031767697130753 + 0.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.031767697130753[0m ×2 + 0.66sWARNcontroller_managerOverrun might occur, Total time : 6732.932 us (Expected < 1666.667 us) --> Read time : 84.594 us, Update time : 156.257 us, Write time : 6492.081 us + 0.66sWARNros2_control_nodeOverrun might occur, Total time : 6732.932 us (Expected < 1666.667 us) --> Read time : 84.594 us, Update time : 156.257 us, Write time : 6492.081 us[0m ×2 + 0.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.599222188387273 + 0.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.599222188387273[0m ×2 + 0.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.614591779027593 + 0.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.614591779027593[0m ×2 + 0.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.185398395118732 + 0.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.185398395118732[0m ×2 + 0.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.749381658849893 + 0.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.749381658849893[0m ×2 + 0.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.382651013727647 + 0.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.382651013727647[0m ×2 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.762340557158555 + 0.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.762340557158555[0m ×2 + 0.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.201071880413724 + 0.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.201071880413724[0m ×2 + 0.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.072229510635761 + 0.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.072229510635761[0m ×2 + 0.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.487654498344726 + 0.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.487654498344726[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.924522076435762 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.924522076435762[0m ×2 + 0.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.345620426184251 + 0.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.345620426184251[0m ×2 + 0.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.780286543977866 + 0.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.780286543977866[0m ×2 + 0.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.217477741047272 + 0.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.217477741047272[0m ×2 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.152190 ms (missed cycles : 5). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.152190 ms (missed cycles : 5).[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.616472856537229 + 0.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.616472856537229[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.495112363521166 + 0.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.495112363521166[0m ×2 + 0.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.926271646777870 + 0.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.926271646777870[0m ×2 + 0.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.364795887509146 + 0.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.364795887509146[0m ×2 + 0.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.799938762634458 + 0.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.799938762634458[0m ×2 + 0.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.208077333435128 + 0.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.208077333435128[0m ×2 + 0.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.655531375273711 + 0.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.655531375273711[0m ×2 + 0.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.073378086524738 + 0.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.073378086524738[0m ×2 + 0.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.518365285356897 + 0.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.518365285356897[0m ×2 + 0.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.374363909221305 + 0.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.374363909221305[0m ×2 + 0.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.795773413533340 + 0.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.795773413533340[0m ×2 + 0.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.795787347040324 + 0.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.795787347040324[0m ×2 + 0.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.232719492890176 + 0.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.232719492890176[0m ×2 + 0.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.282034116265379 + 0.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.282034116265379[0m ×2 + 0.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.903283476517206 + 0.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.903283476517206[0m ×2 + 0.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.102098150829413 + 0.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.102098150829413[0m ×2 + 1.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.165797940550398 + 1.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.165797940550398[0m ×2 + 1.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.795257444592377 + 1.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.795257444592377[0m ×2 + 1.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.998072284379376 + 1.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.998072284379376[0m ×2 + 1.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.987043224145411 + 1.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.987043224145411[0m ×2 + 1.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.368293840233637 + 1.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.368293840233637[0m ×2 + 1.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.769424701657996 + 1.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.769424701657996[0m ×2 + 1.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.322373162052651 + 1.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.322373162052651[0m ×2 + 1.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.420540793182956 + 1.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.420540793182956[0m ×2 + 1.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.034901255015166 + 1.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.034901255015166[0m ×2 + 1.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.303220886333080 ×2 + 1.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.303220886333080[0m ×4 + 1.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.282129813903617 + 1.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.282129813903617[0m ×2 + 1.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.039901428659553 + 1.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.039901428659553[0m ×2 + 1.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.690565059950966 + 1.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.690565059950966[0m ×2 + 1.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.503486225031256 + 1.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.503486225031256[0m ×2 + 1.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.515389875823594 + 1.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.515389875823594[0m ×2 + 1.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.987520144126002 + 1.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.987520144126002[0m ×2 + 1.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.222929739711030 + 1.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.222929739711030[0m ×2 + 1.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.165720695041802 + 1.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.165720695041802[0m ×2 + 1.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.834047485886211 + 1.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.834047485886211[0m ×2 + 1.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.129505236438273 + 1.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.129505236438273[0m ×2 + 1.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.829792240174857 + 1.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.829792240174857[0m ×2 + 1.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.534767332665684 + 1.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.534767332665684[0m ×2 + 1.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.614693868186592 + 1.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.614693868186592[0m ×2 + 1.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.544057007990801 + 1.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.544057007990801[0m ×2 + 1.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.535437377173199 + 1.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.535437377173199[0m ×2 + 1.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.360853707726601 + 1.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.360853707726601[0m ×2 + 1.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.777376170981707 + 1.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.777376170981707[0m ×2 + 1.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.661234637038877 + 1.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.661234637038877[0m ×2 + 1.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.661819017486369 + 1.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.661819017486369[0m ×2 + 1.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.355636332238610 + 1.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.355636332238610[0m ×2 + 1.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.396267662827160 + 1.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.396267662827160[0m ×2 + 1.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.250600809294799 + 1.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.250600809294799[0m ×2 + 1.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.222353591451032 + 1.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.222353591451032[0m ×2 + 1.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.314445704938553 + 1.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.314445704938553[0m ×2 + 1.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.006058891889648 + 1.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.006058891889648[0m ×2 + 1.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.980982116340649 ×2 + 1.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.980982116340649[0m ×4 + 1.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.167446428009460 + 1.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.167446428009460[0m ×2 + 1.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.740350325597247 + 1.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.740350325597247[0m ×2 + 1.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.836761236000433 + 1.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.836761236000433[0m ×2 + 1.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.529201861532458 + 1.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.529201861532458[0m ×2 + 1.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.894646558312452 + 1.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.894646558312452[0m ×2 + 1.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.645107820785446 + 1.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.645107820785446[0m ×2 + 1.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.284503396645732 + 1.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.284503396645732[0m ×2 + 1.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.620158834205311 + 1.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.620158834205311[0m ×2 + 1.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.619991075561934 + 1.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.619991075561934[0m ×2 + 1.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.177588364270214 + 1.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.177588364270214[0m ×2 + 1.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.576518206152013 + 1.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.576518206152013[0m ×2 + 1.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.862538516498965 + 1.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.862538516498965[0m ×2 + 1.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.928073153948691 + 1.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.928073153948691[0m ×2 + 1.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.853437031806941 + 1.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.853437031806941[0m ×2 + 1.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.621520349115208 + 1.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.621520349115208[0m ×2 + 1.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.399540854123323 ×2 + 1.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.399540854123323[0m ×4 + 1.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.344718458292931 + 1.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.344718458292931[0m ×2 + 1.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.285764934063351 + 1.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.285764934063351[0m ×2 + 1.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.086278581475526 + 1.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.086278581475526[0m ×2 + 1.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.321414340410936 + 1.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.321414340410936[0m ×2 + 1.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.993945040401435 + 1.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.993945040401435[0m ×2 + 1.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.827303438465627 ×2 + 1.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.827303438465627[0m ×4 + 1.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.887502009057883 + 1.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.887502009057883[0m ×2 + 1.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.876768539948777 + 1.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.876768539948777[0m ×2 + 1.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.064319569082606 + 1.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.064319569082606[0m ×2 + 1.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.196230776781952 + 1.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.196230776781952[0m ×2 + 1.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.894095922272225 + 1.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.894095922272225[0m ×2 + 1.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.483199741760796 + 1.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.483199741760796[0m ×2 + 1.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.277545654213533 + 1.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.277545654213533[0m ×2 + 1.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.356117372634962 + 1.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.356117372634962[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576555 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576555 ms (missed cycles : 2).[0m ×2 + 1.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.203304905611724 + 1.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.203304905611724[0m ×2 + 1.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.435113642609121 + 1.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.435113642609121[0m ×2 + 1.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.109926737302996 + 1.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.109926737302996[0m ×2 + 1.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.682022201719906 + 1.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.682022201719906[0m ×2 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 4059.294 us (Expected < 1666.667 us) --> Read time : 175.638 us, Update time : 3395.743 us, Write time : 487.913 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 4059.294 us (Expected < 1666.667 us) --> Read time : 175.638 us, Update time : 3395.743 us, Write time : 487.913 us[0m ×2 + 1.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.550042206681391 + 1.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.550042206681391[0m ×2 + 1.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.136715436146320 + 1.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.136715436146320[0m ×2 + 1.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.670356511499770 + 1.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.670356511499770[0m ×2 + 1.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.712685136154571 + 1.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.712685136154571[0m ×2 + 1.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.936169965809384 + 1.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.936169965809384[0m ×2 + 1.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.155770469243180 + 1.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.155770469243180[0m ×2 + 1.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.155306728171933 + 1.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.155306728171933[0m ×2 + 1.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.410242939210292 + 1.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.410242939210292[0m ×2 + 1.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.558189119524926 + 1.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.558189119524926[0m ×2 + 1.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.512396390052867 + 1.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.512396390052867[0m ×2 + 1.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.376163642862799 + 1.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.376163642862799[0m ×2 + 1.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.154825358997460 + 1.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.154825358997460[0m ×2 + 1.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.558612024288685 + 1.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.558612024288685[0m ×2 + 1.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.719627009468304 + 1.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.719627009468304[0m ×2 + 1.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.527988948684637 + 1.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.527988948684637[0m ×2 + 2.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.380582759676447 + 2.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.380582759676447[0m ×2 + 2.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.301481243452283 + 2.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.301481243452283[0m ×2 + 2.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.278978089211535 + 2.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.278978089211535[0m ×2 + 2.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.355268244774194 + 2.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.355268244774194[0m ×2 + 2.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.039857338931981 ×2 + 2.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.039857338931981[0m ×4 + 2.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.755634192070872 + 2.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.755634192070872[0m ×2 + 2.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.399243786895394 + 2.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.399243786895394[0m ×2 + 2.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.975494691471177 + 2.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.975494691471177[0m ×2 + 2.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.589802951382833 + 2.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.589802951382833[0m ×2 + 2.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.348350935171190 + 2.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.348350935171190[0m ×2 + 2.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.880008812266370 + 2.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.880008812266370[0m ×2 + 2.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.905107041000274 + 2.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.905107041000274[0m ×2 + 2.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.444532166484336 ×2 + 2.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.444532166484336[0m ×4 + 2.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.481515029212600 + 2.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.481515029212600[0m ×2 + 2.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.825955313923261 + 2.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.825955313923261[0m ×2 + 2.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.412921685835146 + 2.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.412921685835146[0m ×2 + 2.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.138897338598220 + 2.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.138897338598220[0m ×2 + 2.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.801614442282155 + 2.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.801614442282155[0m ×2 + 2.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.282945588183399 + 2.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.282945588183399[0m ×2 + 2.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.705662681932345 + 2.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.705662681932345[0m ×2 + 2.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.705392302874301 + 2.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.705392302874301[0m ×2 + 2.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.177579158024862 + 2.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.177579158024862[0m ×2 + 2.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.628735581721756 + 2.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.628735581721756[0m ×2 + 2.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.729410303225187 + 2.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.729410303225187[0m ×2 + 2.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.923536963409259 ×2 + 2.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.923536963409259[0m ×4 + 2.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.436637990517298 + 2.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.436637990517298[0m ×2 + 2.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.869159044516653 + 2.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.869159044516653[0m ×2 + 2.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.233295648479025 ×2 + 2.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.233295648479025[0m ×4 + 2.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.589062340776124 + 2.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.589062340776124[0m ×2 + 2.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.749281265217263 + 2.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.749281265217263[0m ×2 + 2.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.276189894113472 + 2.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.276189894113472[0m ×2 + 2.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.757837606923424 + 2.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.757837606923424[0m ×2 + 2.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.368290156288964 + 2.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.368290156288964[0m ×2 + 2.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.264070615763302 ×2 + 2.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.264070615763302[0m ×4 + 2.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.510108311384556 + 2.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.510108311384556[0m ×2 + 2.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.682209862149303 + 2.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.682209862149303[0m ×2 + 2.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.054125177073779 + 2.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.054125177073779[0m ×2 + 2.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.595697921419855 + 2.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.595697921419855[0m ×2 + 2.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.255168703407392 + 2.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.255168703407392[0m ×2 + 2.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.474424718623405 + 2.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.474424718623405[0m ×2 + 2.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.909976846593398 + 2.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.909976846593398[0m ×2 + 2.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.455473374269858 + 2.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.455473374269858[0m ×2 + 2.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.112252393442488 + 2.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.112252393442488[0m ×2 + 2.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.054684694125712 + 2.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.054684694125712[0m ×2 + 2.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.054657747611434 + 2.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.054657747611434[0m ×2 + 2.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.394545966786929 + 2.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.394545966786929[0m ×2 + 2.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.099263853302617 + 2.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.099263853302617[0m ×2 + 2.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.013277286046609 + 2.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.013277286046609[0m ×2 + 2.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.013626776478949 + 2.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.013626776478949[0m ×2 + 2.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.924241465482634 + 2.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.924241465482634[0m ×2 + 2.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.779582637910558 + 2.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.779582637910558[0m ×2 + 2.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.877747023376656 + 2.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.877747023376656[0m ×2 + 2.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.054171889795143 + 2.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.054171889795143[0m ×2 + 2.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.060811580523435 + 2.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.060811580523435[0m ×2 + 2.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.251452112021781 + 2.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.251452112021781[0m ×2 + 2.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.452506180484740 + 2.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.452506180484740[0m ×2 + 2.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.720707530920333 + 2.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.720707530920333[0m ×2 + 2.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.837044591625968 + 2.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.837044591625968[0m ×2 + 2.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.992663937893056 ×2 + 2.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.992663937893056[0m ×4 + 2.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.758913709258685 + 2.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.758913709258685[0m ×2 + 2.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.513744731415549 + 2.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.513744731415549[0m ×2 + 2.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.738405125441624 + 2.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.738405125441624[0m ×2 + 2.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.450660565408633 + 2.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.450660565408633[0m ×2 + 2.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.800797631457328 + 2.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.800797631457328[0m ×2 + 2.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.991190005546818 + 2.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.991190005546818[0m ×2 + 2.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.448137746676757 + 2.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.448137746676757[0m ×2 + 2.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.808781322827103 + 2.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.808781322827103[0m ×2 + 2.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.128784916467469 + 2.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.128784916467469[0m ×2 + 2.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.134596966809036 + 2.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.134596966809036[0m ×2 + 2.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.182507395801040 ×2 + 2.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.182507395801040[0m ×4 + 2.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.393095716582127 + 2.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.393095716582127[0m ×2 + 2.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.397391614609890 + 2.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.397391614609890[0m ×2 + 2.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.100494437015799 + 2.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.100494437015799[0m ×2 + 2.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.286863964396962 + 2.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.286863964396962[0m ×2 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.566122 ms (missed cycles : 7). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.566122 ms (missed cycles : 7).[0m ×2 + 2.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.233420799936490 + 2.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.233420799936490[0m ×2 + 2.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.019814005820853 + 2.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.019814005820853[0m ×2 + 2.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.370182597060428 + 2.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.370182597060428[0m ×2 + 2.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.823735085108646 + 2.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.823735085108646[0m ×2 + 2.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.281995095916423 + 2.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.281995095916423[0m ×2 + 2.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.716309391144986 + 2.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.716309391144986[0m ×2 + 2.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.151296811264899 + 2.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.151296811264899[0m ×2 + 2.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.590031899737284 + 2.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.590031899737284[0m ×2 + 2.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.047873892654181 + 2.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.047873892654181[0m ×2 + 2.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.496476809209945 + 2.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.496476809209945[0m ×2 + 2.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.496531538816747 + 2.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.496531538816747[0m ×2 + 2.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.941262691830119 + 2.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.941262691830119[0m ×2 + 2.98sWARNcontroller_managerOverrun might occur, Total time : 5201.149 us (Expected < 1666.667 us) --> Read time : 118.396 us, Update time : 42.532 us, Write time : 5040.221 us + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 5201.149 us (Expected < 1666.667 us) --> Read time : 118.396 us, Update time : 42.532 us, Write time : 5040.221 us[0m ×2 + 2.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.376438748120101 + 2.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.376438748120101[0m ×2 + 3.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.665181964029024 + 3.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.665181964029024[0m ×2 + 3.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.208577090724837 + 3.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.208577090724837[0m ×2 + 3.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.081075560922383 + 3.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.081075560922383[0m ×2 + 3.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.491933449904892 + 3.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.491933449904892[0m ×2 + 3.06sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780499156.04877996 seconds ×3 + 3.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.980993153882366 + 3.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.980993153882366[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.73sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780499156.71420503 seconds. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657977 ms (missed cycles : 4). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657977 ms (missed cycles : 4).[0m ×2 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 3.90sINFOros2_control_node[2026-06-03 15:05:56.887] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-06-03 15:05:56.887] [info] Accepted new action goal ×2 + 3.96sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 7027.377 us (Expected < 1666.667 us) --> Read time : 99.465 us, Update time : 6396.246 us, Write time : 531.666 us + 4.00sWARNros2_control_nodeOverrun might occur, Total time : 7027.377 us (Expected < 1666.667 us) --> Read time : 99.465 us, Update time : 6396.246 us, Write time : 531.666 us[0m ×2 + 4.02sINFOobjective_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 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748221 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748221 ms (missed cycles : 2).[0m ×2 + 5.11sWARNcontroller_managerOverrun might occur, Total time : 4289.955 us (Expected < 1666.667 us) --> Read time : 718.484 us, Update time : 3098.428 us, Write time : 473.043 us + 5.11sWARNros2_control_nodeOverrun might occur, Total time : 4289.955 us (Expected < 1666.667 us) --> Read time : 718.484 us, Update time : 3098.428 us, Write time : 473.043 us[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776109 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776109 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 4509.035 us (Expected < 1666.667 us) --> Read time : 96.744 us, Update time : 3876.446 us, Write time : 535.845 us + 6.25sWARNros2_control_nodeOverrun might occur, Total time : 4509.035 us (Expected < 1666.667 us) --> Read time : 96.744 us, Update time : 3876.446 us, Write time : 535.845 us[0m ×2 + 6.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000345706950508 + 6.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000345706950508[0m ×2 + 6.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001202490504833 + 6.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001202490504833[0m ×2 + 6.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001310999685317 + 6.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001310999685317[0m ×2 + 6.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001394836168219 + 6.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001394836168219[0m ×2 + 6.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061975403410 ×2 + 6.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061975403410[0m ×4 + 6.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084473016530 + 6.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084473016530[0m ×2 + 6.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000174220468407 ×2 + 6.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000174220468407[0m ×4 + 6.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000186236902974 + 6.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000186236902974[0m ×2 + 6.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000173057803872 ×2 + 6.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000173057803872[0m ×4 + 6.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000148402056202 ×2 + 6.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000148402056202[0m ×4 + 6.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000603342060080 + 6.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000603342060080[0m ×2 + 6.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000488321392703 + 6.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000488321392703[0m ×2 + 6.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025762007390 + 6.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025762007390[0m ×2 + 6.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025440326409 + 6.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025440326409[0m ×2 + 6.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032624246057 + 6.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032624246057[0m ×2 + 6.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031741862274 + 6.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031741862274[0m ×2 + 6.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122081374088 + 6.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122081374088[0m ×2 + 6.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026868895699 + 6.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026868895699[0m ×2 + 6.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073333459579 + 6.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073333459579[0m ×2 + 6.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033084947171 + 6.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033084947171[0m ×2 + 6.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000173494407743 + 6.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000173494407743[0m ×2 + 6.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022712663979 + 6.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022712663979[0m ×2 + 6.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000654974801863 + 6.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000654974801863[0m ×2 + 6.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000130699114309 + 6.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000130699114309[0m ×2 + 6.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000454718998101 + 6.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000454718998101[0m ×2 + 6.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000509818850716 + 6.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000509818850716[0m ×2 + 6.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000867707582763 + 6.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000867707582763[0m ×2 + 6.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000267438771499 + 6.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000267438771499[0m ×2 + 6.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000963841910114 + 6.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000963841910114[0m ×2 + 6.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000866774058395 + 6.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000866774058395[0m ×2 + 6.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000628992894548 + 6.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000628992894548[0m ×2 + 6.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000110416551054 + 6.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000110416551054[0m ×2 + 6.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000185766969719 + 6.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000185766969719[0m ×2 + 6.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018275149317 + 6.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018275149317[0m ×2 + 6.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000176149872650 + 6.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000176149872650[0m ×2 + 6.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001096964382403 + 6.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001096964382403[0m ×2 + 6.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000602490788671 + 6.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000602490788671[0m ×2 + 6.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000177827709559 + 6.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000177827709559[0m ×2 + 6.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000887907734535 + 6.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000887907734535[0m ×2 + 6.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000861445473044 + 6.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000861445473044[0m ×2 + 6.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000861725034541 + 6.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000861725034541[0m ×2 + 6.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000225351694876 + 6.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000225351694876[0m ×2 + 6.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000176161235700 + 6.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000176161235700[0m ×2 + 6.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000217666899693 ×2 + 6.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000217666899693[0m ×4 + 6.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000195526562198 ×2 + 6.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000195526562198[0m ×4 + 6.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000140152194206 + 6.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000140152194206[0m ×2 + 6.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000048631549227 ×2 + 6.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000048631549227[0m ×4 + 6.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006932943656 ×2 + 6.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006932943656[0m ×4 + 6.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000065282553441 + 6.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000065282553441[0m ×2 + 6.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000074955613939 + 6.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000074955613939[0m ×2 + 6.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000309012612078 + 6.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000309012612078[0m ×2 + 6.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000489976406277 + 6.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000489976406277[0m ×2 + 6.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000550616453554 + 6.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000550616453554[0m ×2 + 6.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001039809717621 + 6.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001039809717621[0m ×2 + 6.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001086379382111 + 6.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001086379382111[0m ×2 + 6.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000617901098029 + 6.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000617901098029[0m ×2 + 6.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000303476469653 ×2 + 6.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000303476469653[0m ×4 + 6.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000104728635165 + 6.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000104728635165[0m ×2 + 6.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000686346790694 + 6.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000686346790694[0m ×2 + 6.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070762787688 + 6.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070762787688[0m ×2 + 6.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036256685769 ×2 + 6.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036256685769[0m ×4 + 6.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000201244118624 + 6.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000201244118624[0m ×2 + 6.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063563548001 + 6.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063563548001[0m ×2 + 6.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072099731721 + 6.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072099731721[0m ×2 + 6.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000555507833984 + 6.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000555507833984[0m ×2 + 6.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000317646077493 + 6.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000317646077493[0m ×2 + 6.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000149527491224 + 6.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000149527491224[0m ×2 + 6.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000149495508285 + 6.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000149495508285[0m ×2 + 6.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000049512377751 ×2 + 6.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000049512377751[0m ×4 + 6.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000090227095202 + 6.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000090227095202[0m ×2 + 6.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000151818884193 + 6.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000151818884193[0m ×2 + 6.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000079923377284 + 6.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000079923377284[0m ×2 + 6.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013454009546 + 6.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013454009546[0m ×2 + 6.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001337996082882 + 6.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001337996082882[0m ×2 + 6.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000813002729448 + 6.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000813002729448[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135569 ms (missed cycles : 2). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135569 ms (missed cycles : 2).[0m ×2 + 6.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000907547162750 + 6.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000907547162750[0m ×2 + 6.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001138462778739 + 6.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001138462778739[0m ×2 + 6.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001319298781508 + 6.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001319298781508[0m ×2 + 6.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001906569934346 + 6.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001906569934346[0m ×2 + 6.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002126405568102 + 6.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002126405568102[0m ×2 + 6.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001134488126347 + 6.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001134488126347[0m ×2 + 6.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002435747425403 + 6.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002435747425403[0m ×2 + 6.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001227686728641 + 6.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001227686728641[0m ×2 + 6.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001099180807422 ×2 + 6.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001099180807422[0m ×4 + 7.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001485935023120 + 7.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001485935023120[0m ×2 + 7.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001896035673505 + 7.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001896035673505[0m ×2 + 7.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001638765086048 + 7.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001638765086048[0m ×2 + 7.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002048621641160 + 7.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002048621641160[0m ×2 + 7.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001026049964300 + 7.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001026049964300[0m ×2 + 7.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001100412814898 + 7.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001100412814898[0m ×2 + 7.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515828625748 + 7.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515828625748[0m ×2 + 7.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001413111997134 + 7.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001413111997134[0m ×2 + 7.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001479165194632 + 7.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001479165194632[0m ×2 + 7.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001386883467919 + 7.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001386883467919[0m ×2 + 7.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001330084112829 + 7.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001330084112829[0m ×2 + 7.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001340613601995 + 7.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001340613601995[0m ×2 + 7.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001306227851986 + 7.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001306227851986[0m ×2 + 7.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001316814826605 + 7.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001316814826605[0m ×2 + 7.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000824089501720 + 7.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000824089501720[0m ×2 + 7.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001040632346170 + 7.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001040632346170[0m ×2 + 7.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001463654730522 + 7.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001463654730522[0m ×2 + 7.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001441742191944 + 7.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001441742191944[0m ×2 + 7.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001508984001217 + 7.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001508984001217[0m ×2 + 7.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000950734346193 + 7.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000950734346193[0m ×2 + 7.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001140499548267 + 7.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001140499548267[0m ×2 + 7.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001567370116001 + 7.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001567370116001[0m ×2 + 7.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001522152900871 + 7.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001522152900871[0m ×2 + 7.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001482609555998 + 7.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001482609555998[0m ×2 + 7.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001608243514982 + 7.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001608243514982[0m ×2 + 7.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001527469948267 + 7.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001527469948267[0m ×2 + 7.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001467341098184 + 7.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001467341098184[0m ×2 + 7.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001432563333633 + 7.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001432563333633[0m ×2 + 7.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001469611434150 + 7.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001469611434150[0m ×2 + 7.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001609152757625 + 7.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001609152757625[0m ×2 + 7.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001620045094732 + 7.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001620045094732[0m ×2 + 7.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001554362661017 + 7.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001554362661017[0m ×2 + 7.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001591676261172 + 7.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001591676261172[0m ×2 + 7.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001527301533744 + 7.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001527301533744[0m ×2 + 7.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001483951988200 + 7.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001483951988200[0m ×2 + 7.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001521424186206 + 7.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001521424186206[0m ×2 + 7.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001478905671688 + 7.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001478905671688[0m ×2 + 7.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001516465643333 + 7.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001516465643333[0m ×2 + 7.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001475107671017 + 7.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001475107671017[0m ×2 + 7.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002063010093736 + 7.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002063010093736[0m ×2 + 7.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002192137911403 + 7.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002192137911403[0m ×2 + 7.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000797549983979 + 7.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000797549983979[0m ×2 + 7.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001090310359395 + 7.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001090310359395[0m ×2 + 7.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001534905730775 + 7.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001534905730775[0m ×2 + 7.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001554480576643 + 7.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001554480576643[0m ×2 + 7.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001558204531190 + 7.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001558204531190[0m ×2 + 7.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002004656426226 + 7.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002004656426226[0m ×2 + 7.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001824352195551 + 7.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001824352195551[0m ×2 + 7.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001695027940977 + 7.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001695027940977[0m ×2 + 7.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001606402445374 + 7.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001606402445374[0m ×2 + 7.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001551994652082 + 7.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001551994652082[0m ×2 + 7.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001683938406056 + 7.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001683938406056[0m ×2 + 7.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001600704953424 + 7.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001600704953424[0m ×2 + 7.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001672249251322 + 7.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001672249251322[0m ×2 + 7.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001593245075273 + 7.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001593245075273[0m ×2 + 7.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001541642372159 + 7.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001541642372159[0m ×2 + 7.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001674460828827 + 7.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001674460828827[0m ×2 + 7.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001757653677705 + 7.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001757653677705[0m ×2 + 7.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001682132801699 + 7.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001682132801699[0m ×2 + 7.46sWARNcontroller_managerOverrun might occur, Total time : 1700.111 us (Expected < 1666.667 us) --> Read time : 109.785 us, Update time : 1330.963 us, Write time : 259.363 us + 7.46sWARNros2_control_nodeOverrun might occur, Total time : 1700.111 us (Expected < 1666.667 us) --> Read time : 109.785 us, Update time : 1330.963 us, Write time : 259.363 us[0m ×2 + 7.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001629713115315 + 7.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001629713115315[0m ×2 + 7.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001595544728399 + 7.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001595544728399[0m ×2 + 7.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001574849971174 + 7.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001574849971174[0m ×2 + 7.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001823114007956 + 7.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001823114007956[0m ×2 + 7.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001715873008768 + 7.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001715873008768[0m ×2 + 7.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001645968526280 + 7.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001645968526280[0m ×2 + 7.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001785762434005 + 7.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001785762434005[0m ×2 + 7.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001723141508706 + 7.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001723141508706[0m ×2 + 7.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001677889535250 + 7.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001677889535250[0m ×2 + 7.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001646958990509 + 7.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001646958990509[0m ×2 + 7.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001898516731236 + 7.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001898516731236[0m ×2 + 7.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001781277147424 + 7.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001781277147424[0m ×2 + 7.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001703386576881 + 7.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001703386576881[0m ×2 + 7.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001846382323618 + 7.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001846382323618[0m ×2 + 7.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001741955724265 + 7.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001741955724265[0m ×2 + 7.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001676359814337 + 7.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001676359814337[0m ×2 + 7.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001638681636597 + 7.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001638681636597[0m ×2 + 7.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001620095047113 + 7.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001620095047113[0m ×2 + 7.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001875244770756 + 7.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001875244770756[0m ×2 + 7.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001770012809540 + 7.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001770012809540[0m ×2 + 7.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001700371783507 + 7.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001700371783507[0m ×2 + 7.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001840272096795 + 7.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001840272096795[0m ×2 + 7.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001748352140754 + 7.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001748352140754[0m ×2 + 7.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001823828678560 + 7.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001823828678560[0m ×2 + 7.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001738333298945 + 7.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001738333298945[0m ×2 + 7.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001877087366728 + 7.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001877087366728[0m ×2 + 7.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000836276803975 + 7.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000836276803975[0m ×2 + 7.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001300530742189 + 7.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001300530742189[0m ×2 + 7.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002238048177382 + 7.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002238048177382[0m ×2 + 7.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002069559635179 + 7.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002069559635179[0m ×2 + 7.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002327621352107 + 7.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002327621352107[0m ×2 + 7.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002098899819515 + 7.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002098899819515[0m ×2 + 7.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001937149258724 + 7.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001937149258724[0m ×2 + 7.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002077302769084 + 7.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002077302769084[0m ×2 + 7.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001914262362501 + 7.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001914262362501[0m ×2 + 7.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002054727033462 + 7.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002054727033462[0m ×2 + 7.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001894247328960 + 7.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001894247328960[0m ×2 + 7.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001792594907450 + 7.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001792594907450[0m ×2 + 7.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001733082842057 + 7.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001733082842057[0m ×2 + 7.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001702425720897 + 7.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001702425720897[0m ×2 + 7.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001963593599037 + 7.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001963593599037[0m ×2 + 7.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001850555290813 + 7.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001850555290813[0m ×2 + 7.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001992129360187 + 7.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001992129360187[0m ×2 + 7.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001867395084212 + 7.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001867395084212[0m ×2 + 7.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001790163414527 + 7.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001790163414527[0m ×2 + 7.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001936507125954 + 7.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001936507125954[0m ×2 + 7.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001875308971563 + 7.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001875308971563[0m ×2 + 7.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001833701210063 + 7.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001833701210063[0m ×2 + 7.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001802816011849 + 7.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001802816011849[0m ×2 + 7.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002291087633041 + 7.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002291087633041[0m ×2 + 7.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002082934573078 + 7.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002082934573078[0m ×2 + 7.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001941396197542 + 7.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001941396197542[0m ×2 + 7.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002206354919966 + 7.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002206354919966[0m ×2 + 7.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002013170216147 + 7.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002013170216147[0m ×2 + 7.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001888205087917 + 7.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001888205087917[0m ×2 + 7.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002153806889847 + 7.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002153806889847[0m ×2 + 7.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001973989933253 + 7.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001973989933253[0m ×2 + 7.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002118190959961 + 7.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002118190959961[0m ×2 + 7.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001956542022369 + 7.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001956542022369[0m ×2 + 7.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001859714526690 + 7.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001859714526690[0m ×2 + 7.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002129738436940 + 7.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002129738436940[0m ×2 + 7.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001975486485947 + 7.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001975486485947[0m ×2 + 7.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002122224685378 + 7.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002122224685378[0m ×2 + 7.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001971196027932 + 7.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001971196027932[0m ×2 + 7.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001878869553545 + 7.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001878869553545[0m ×2 + 7.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002151132759695 + 7.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002151132759695[0m ×2 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969557 ms (missed cycles : 2). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969557 ms (missed cycles : 2).[0m ×2 + 7.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001994693255079 + 7.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001994693255079[0m ×2 + 7.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001706963459414 + 7.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001706963459414[0m ×2 + 7.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001787210557332 + 7.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001787210557332[0m ×2 + 8.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002647027126114 + 8.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002647027126114[0m ×2 + 8.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002374983277312 + 8.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002374983277312[0m ×2 + 8.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002177352236834 + 8.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002177352236834[0m ×2 + 8.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002169543272108 + 8.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002169543272108[0m ×2 + 8.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002855786755201 + 8.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002855786755201[0m ×2 + 8.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002468658266562 + 8.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002468658266562[0m ×2 + 8.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002203631802771 + 8.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002203631802771[0m ×2 + 8.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002482398214166 + 8.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002482398214166[0m ×2 + 8.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002200623547057 + 8.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002200623547057[0m ×2 + 8.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002468325844266 + 8.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002468325844266[0m ×2 + 8.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002186690442300 + 8.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002186690442300[0m ×2 + 8.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002008611519896 + 8.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002008611519896[0m ×2 + 8.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002287201698098 + 8.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002287201698098[0m ×2 + 8.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002075131385143 + 8.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002075131385143[0m ×2 + 8.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001945920252174 + 8.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001945920252174[0m ×2 + 8.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001874065540890 + 8.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001874065540890[0m ×2 + 8.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002055412867512 + 8.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002055412867512[0m ×2 + 8.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002809002819482 + 8.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002809002819482[0m ×2 + 8.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002456543983218 + 8.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002456543983218[0m ×2 + 8.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002737249285058 + 8.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002737249285058[0m ×2 + 8.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002386697301965 + 8.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002386697301965[0m ×2 + 8.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002152826002919 + 8.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002152826002919[0m ×2 + 8.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002434336625751 + 8.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002434336625751[0m ×2 + 8.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002178349798869 + 8.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002178349798869[0m ×2 + 8.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002459855667518 + 8.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002459855667518[0m ×2 + 8.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002191786088084 + 8.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002191786088084[0m ×2 + 8.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002022420069905 + 8.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002022420069905[0m ×2 + 8.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002543471820302 + 8.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002543471820302[0m ×2 + 8.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002244276489561 + 8.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002244276489561[0m ×2 + 8.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002166446217788 + 8.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002166446217788[0m ×2 + 8.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002449024126721 + 8.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002449024126721[0m ×2 + 8.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002222172946124 + 8.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002222172946124[0m ×2 + 8.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002744423550728 + 8.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002744423550728[0m ×2 + 8.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002393894883496 + 8.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002393894883496[0m ×2 + 8.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002161601769113 + 8.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002161601769113[0m ×2 + 8.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002684848404101 + 8.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002684848404101[0m ×2 + 8.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002337942754134 + 8.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002337942754134[0m ×2 + 8.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002621336932754 + 8.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002621336932754[0m ×2 + 8.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002288562284866 + 8.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002288562284866[0m ×2 + 8.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002179273776300 + 8.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002179273776300[0m ×2 + 8.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002463134357761 + 8.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002463134357761[0m ×2 + 8.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002229576425742 + 8.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002229576425742[0m ×2 + 8.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002898710454781 + 8.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002898710454781[0m ×2 + 8.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002923070693879 + 8.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002923070693879[0m ×2 + 8.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002449989153770 + 8.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002449989153770[0m ×2 + 8.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002975637568216 + 8.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002975637568216[0m ×2 + 8.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002540311469987 + 8.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002540311469987[0m ×2 + 8.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002249906701605 + 8.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002249906701605[0m ×2 + 8.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002066248861163 + 8.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002066248861163[0m ×2 + 8.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002592227465586 + 8.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002592227465586[0m ×2 + 8.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002281095954267 + 8.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002281095954267[0m ×2 + 8.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002807312759671 + 8.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002807312759671[0m ×2 + 8.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002377847414497 + 8.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002377847414497[0m ×2 + 8.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002904720658916 + 8.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002904720658916[0m ×2 + 8.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002441558142236 + 8.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002441558142236[0m ×2 + 8.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002968511387159 + 8.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002968511387159[0m ×2 + 8.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002537189107486 + 8.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002537189107486[0m ×2 + 8.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002250140726665 + 8.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002250140726665[0m ×2 + 8.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002777382519001 + 8.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002777382519001[0m ×2 + 8.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002393957911679 + 8.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002393957911679[0m ×2 + 8.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002147752859255 + 8.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002147752859255[0m ×2 + 8.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002675197809726 + 8.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002675197809726[0m ×2 + 8.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002324354359400 + 8.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002324354359400[0m ×2 + 8.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002851935212625 + 8.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002851935212625[0m ×2 + 8.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002425787710791 + 8.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002425787710791[0m ×2 + 8.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001792433355880 + 8.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001792433355880[0m ×2 + 8.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002078212702179 + 8.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002078212702179[0m ×2 + 8.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002868568421041 + 8.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002868568421041[0m ×2 + 8.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003349723836203 + 8.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003349723836203[0m ×2 + 8.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003433401911406 + 8.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003433401911406[0m ×2 + 8.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002842247577412 + 8.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002842247577412[0m ×2 + 8.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002439507363779 + 8.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002439507363779[0m ×2 + 8.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967673018791 + 8.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967673018791[0m ×2 + 8.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002503993701094 + 8.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002503993701094[0m ×2 + 8.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003032600515683 + 8.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003032600515683[0m ×2 + 8.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002534198360212 + 8.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002534198360212[0m ×2 + 8.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002214349159317 + 8.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002214349159317[0m ×2 + 8.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002742512891625 + 8.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002742512891625[0m ×2 + 8.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002347357982559 + 8.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002347357982559[0m ×2 + 8.63sWARNcontroller_managerOverrun might occur, Total time : 11090.622 us (Expected < 1666.667 us) --> Read time : 188.540 us, Update time : 10485.982 us, Write time : 416.100 us + 8.63sWARNros2_control_nodeOverrun might occur, Total time : 11090.622 us (Expected < 1666.667 us) --> Read time : 188.540 us, Update time : 10485.982 us, Write time : 416.100 us[0m ×2 + 8.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002875863288160 + 8.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002875863288160[0m ×2 + 8.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001863794060297 + 8.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001863794060297[0m ×2 + 8.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002136018030075 + 8.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002136018030075[0m ×2 + 8.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002422042452195 + 8.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002422042452195[0m ×2 + 8.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003098330401153 + 8.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003098330401153[0m ×2 + 8.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003626652806568 + 8.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003626652806568[0m ×2 + 8.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002993778406130 + 8.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002993778406130[0m ×2 + 8.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002522293511950 + 8.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002522293511950[0m ×2 + 8.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003147429311240 + 8.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003147429311240[0m ×2 + 8.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003541064181016 + 8.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003541064181016[0m ×2 + 8.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002907046352914 + 8.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002907046352914[0m ×2 + 8.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003366086376850 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003366086376850[0m ×2 + 8.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003455574218051 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003455574218051[0m ×2 + 8.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002838962703686 + 8.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002838962703686[0m ×2 + 8.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003324509591662 + 8.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003324509591662[0m ×2 + 8.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003350818387831 + 8.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003350818387831[0m ×2 + 8.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002756077189541 + 8.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002756077189541[0m ×2 + 8.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003262392603083 + 8.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003262392603083[0m ×2 + 8.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002695492614525 + 8.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002695492614525[0m ×2 + 8.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003223849096832 + 8.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003223849096832[0m ×2 + 8.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003313540695471 + 8.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003313540695471[0m ×2 + 8.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002727858624039 + 8.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002727858624039[0m ×2 + 8.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003243661378282 + 8.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003243661378282[0m ×2 + 8.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003333385324084 + 8.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003333385324084[0m ×2 + 8.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002738793879127 + 8.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002738793879127[0m ×2 + 8.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003249258163532 + 8.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003249258163532[0m ×2 + 8.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003339008549109 + 8.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003339008549109[0m ×2 + 8.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002013783555958 + 8.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002013783555958[0m ×2 + 8.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002580345998288 + 8.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002580345998288[0m ×2 + 8.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003252758133011 + 8.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003252758133011[0m ×2 + 8.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003659392233368 + 8.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003659392233368[0m ×2 + 8.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966022206320 + 8.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966022206320[0m ×2 + 8.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003185272347663 + 8.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003185272347663[0m ×2 + 8.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003550525254458 + 8.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003550525254458[0m ×2 + 8.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003716501713301 + 8.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003716501713301[0m ×2 + 8.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002980751550126 + 8.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002980751550126[0m ×2 + 8.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003392615249193 + 8.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003392615249193[0m ×2 + 8.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003558666193042 + 8.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003558666193042[0m ×2 + 8.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002664904822585 + 8.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002664904822585[0m ×2 + 8.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003712482316102 + 8.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003712482316102[0m ×2 + 8.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002986376086155 + 8.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002986376086155[0m ×2 + 8.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003403224862805 + 8.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003403224862805[0m ×2 + 8.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003569254854663 + 8.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003569254854663[0m ×2 + 8.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002877094130260 + 8.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002877094130260[0m ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975186 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975186 ms (missed cycles : 2).[0m ×2 + 9.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003443987762088 + 9.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003443987762088[0m ×2 + 9.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002002787744125 + 9.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002002787744125[0m ×2 + 9.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002569919735328 + 9.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002569919735328[0m ×2 + 9.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002447669482951 + 9.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002447669482951[0m ×2 + 9.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003014686324172 + 9.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003014686324172[0m ×2 + 9.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003539230368493 + 9.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003539230368493[0m ×2 + 9.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003794688363202 + 9.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003794688363202[0m ×2 + 9.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004338320187144 + 9.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004338320187144[0m ×2 + 9.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003362192251537 + 9.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003362192251537[0m ×2 + 9.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003897412049000 + 9.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003897412049000[0m ×2 + 9.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003038308552007 + 9.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003038308552007[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003327892713001 + 9.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003327892713001[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003613366761284 + 9.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003613366761284[0m ×2 + 9.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002832044455864 + 9.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002832044455864[0m ×2 + 9.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003172846916155 + 9.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003172846916155[0m ×2 + 9.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003457964018168 + 9.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003457964018168[0m ×2 + 9.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002738856019087 + 9.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002738856019087[0m ×2 + 9.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003265644313807 + 9.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003265644313807[0m ×2 + 9.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002613385585784 + 9.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002613385585784[0m ×2 + 9.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003045493932108 + 9.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003045493932108[0m ×2 + 9.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003571784534687 + 9.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003571784534687[0m ×2 + 9.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811938150184 + 9.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811938150184[0m ×2 + 9.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003338314368305 + 9.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003338314368305[0m ×2 + 9.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001606773269277 + 9.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001606773269277[0m ×2 + 9.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002133132254284 + 9.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002133132254284[0m ×2 + 9.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002909897274932 + 9.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002909897274932[0m ×2 + 9.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003382927032072 + 9.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003382927032072[0m ×2 + 9.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002678726137622 + 9.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002678726137622[0m ×2 + 9.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003213306532789 + 9.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003213306532789[0m ×2 + 9.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003538855836214 + 9.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003538855836214[0m ×2 + 9.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004525280877672 + 9.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004525280877672[0m ×2 + 9.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004328300762105 + 9.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004328300762105[0m ×2 + 9.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003316152862990 + 9.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003316152862990[0m ×2 + 9.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856458618675 + 9.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856458618675[0m ×2 + 9.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003837569111585 + 9.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003837569111585[0m ×2 + 9.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003923219763121 + 9.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003923219763121[0m ×2 + 9.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003015867909490 + 9.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003015867909490[0m ×2 + 9.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003287116420471 + 9.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003287116420471[0m ×2 + 9.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003827171150153 + 9.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003827171150153[0m ×2 + 9.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002957244009953 + 9.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002957244009953[0m ×2 + 9.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003497164772491 + 9.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003497164772491[0m ×2 + 9.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003587839701324 + 9.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003587839701324[0m ×2 + 9.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003745906658283 + 9.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003745906658283[0m ×2 + 9.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001932325700489 + 9.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001932325700489[0m ×2 + 9.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002733655873573 + 9.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002733655873573[0m ×2 + 9.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003250179448175 + 9.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003250179448175[0m ×2 + 9.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004247011973871 + 9.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004247011973871[0m ×2 + 9.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004178972580811 + 9.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004178972580811[0m ×2 + 9.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004084373798703 + 9.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004084373798703[0m ×2 + 9.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004376126989037 + 9.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004376126989037[0m ×2 + 9.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172301205117 + 9.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172301205117[0m ×2 + 9.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004218512286363 + 9.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004218512286363[0m ×2 + 9.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004040416151168 + 9.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004040416151168[0m ×2 + 9.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003908097595676 + 9.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003908097595676[0m ×2 + 9.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003933113863104 + 9.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003933113863104[0m ×2 + 9.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003830738706857 + 9.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003830738706857[0m ×2 + 9.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003760681764534 + 9.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003760681764534[0m ×2 + 9.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003715938746162 + 9.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003715938746162[0m ×2 + 9.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003689384399009 + 9.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003689384399009[0m ×2 + 9.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003675159332220 + 9.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003675159332220[0m ×2 + 9.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003760496277962 + 9.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003760496277962[0m ×2 + 9.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003723960823878 + 9.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003723960823878[0m ×2 + 9.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003770127709169 + 9.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003770127709169[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003727998352197 + 9.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003727998352197[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003813240109658 + 9.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003813240109658[0m ×2 + 9.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003754514473808 + 9.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003754514473808[0m ×2 + 9.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004114533425269 + 9.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004114533425269[0m ×2 + 9.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003994694678610 + 9.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003994694678610[0m ×2 + 9.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004152037778298 + 9.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004152037778298[0m ×2 + 9.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995770247805 + 9.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995770247805[0m ×2 + 9.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880637609965 + 9.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880637609965[0m ×2 + 9.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003798552956944 + 9.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003798552956944[0m ×2 + 9.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003744170375339 + 9.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003744170375339[0m ×2 + 9.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004034577161690 + 9.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004034577161690[0m ×2 + 9.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003888966217702 + 9.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003888966217702[0m ×2 + 9.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791588856852 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791588856852[0m ×2 + 9.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004081597274139 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004081597274139[0m ×2 + 9.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003908302044807 + 9.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003908302044807[0m ×2 + 9.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003793960407334 + 9.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003793960407334[0m ×2 + 9.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003722584064181 + 9.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003722584064181[0m ×2 + 9.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003681122422970 + 9.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003681122422970[0m ×2 + 9.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003647830247630 + 9.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003647830247630[0m ×2 + 9.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004177136606867 + 9.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004177136606867[0m ×2 + 9.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003953295614614 + 9.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003953295614614[0m ×2 + 9.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003796948787606 + 9.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003796948787606[0m ×2 + 9.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004081568129413 + 9.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004081568129413[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003868273170771 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003868273170771[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003730449316053 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003730449316053[0m ×2 + 9.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004251830931706 + 9.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004251830931706[0m ×2 + 9.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963856142076 + 9.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963856142076[0m ×2 + 9.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004116405526768 + 9.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004116405526768[0m ×2 + 9.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003860805328063 + 9.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003860805328063[0m ×2 + 9.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003703459072964 + 9.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003703459072964[0m ×2 + 9.72sWARNcontroller_managerOverrun might occur, Total time : 2458.246 us (Expected < 1666.667 us) --> Read time : 481.672 us, Update time : 619.810 us, Write time : 1356.764 us + 9.73sWARNros2_control_nodeOverrun might occur, Total time : 2458.246 us (Expected < 1666.667 us) --> Read time : 481.672 us, Update time : 619.810 us, Write time : 1356.764 us[0m ×2 + 9.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003968268696742 + 9.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003968268696742[0m ×2 + 9.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003843849317092 + 9.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003843849317092[0m ×2 + 9.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003752269272557 + 9.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003752269272557[0m ×2 + 9.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004713309713937 + 9.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004713309713937[0m ×2 + 9.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283189248283 + 9.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283189248283[0m ×2 + 9.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003985245147901 + 9.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003985245147901[0m ×2 + 9.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004504926679206 + 9.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004504926679206[0m ×2 + 9.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004111511599663 + 9.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004111511599663[0m ×2 + 9.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003850814229249 + 9.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003850814229249[0m ×2 + 9.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003687773358742 + 9.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003687773358742[0m ×2 + 9.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004206806092250 + 9.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004206806092250[0m ×2 + 9.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915017023673 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915017023673[0m ×2 + 9.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003728926542343 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003728926542343[0m ×2 + 9.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004247586497978 + 9.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004247586497978[0m ×2 + 9.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003939340714813 + 9.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003939340714813[0m ×2 + 9.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004459298140215 + 9.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004459298140215[0m ×2 + 9.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003470199294554 + 9.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003470199294554[0m ×2 + 9.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005106284019152 + 9.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005106284019152[0m ×2 + 9.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004566679233940 + 9.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004566679233940[0m ×2 + 9.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004165256433972 + 9.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004165256433972[0m ×2 + 9.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005109297577325 + 9.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005109297577325[0m ×2 + 9.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004470306060570 + 9.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004470306060570[0m ×2 + 9.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036804146892 + 9.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036804146892[0m ×2 + 9.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003984763317820 + 9.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003984763317820[0m ×2 + 9.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005266034401456 + 9.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005266034401456[0m ×2 + 9.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004576137605874 + 9.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004576137605874[0m ×2 + 9.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005085389614230 + 9.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005085389614230[0m ×2 + 9.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004420262218631 + 9.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004420262218631[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003978663724294 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003978663724294[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004918875759190 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004918875759190[0m ×2 + 9.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283989052759 + 9.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283989052759[0m ×2 + 9.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003873050651814 + 9.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003873050651814[0m ×2 + 10.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004812236420941 + 10.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004812236420941[0m ×2 + 10.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004214652096986 + 10.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004214652096986[0m ×2 + 10.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004722352606997 + 10.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004722352606997[0m ×2 + 10.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004180088860563 + 10.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004180088860563[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005310991886044 + 10.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005310991886044[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004531483744963 + 10.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004531483744963[0m ×2 + 10.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005035214268711 + 10.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005035214268711[0m ×2 + 10.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326205811308 + 10.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326205811308[0m ×2 + 10.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004829471010083 + 10.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004829471010083[0m ×2 + 10.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004180511925676 + 10.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004180511925676[0m ×2 + 10.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004683473019918 + 10.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004683473019918[0m ×2 + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928927 ms (missed cycles : 2). + 10.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928927 ms (missed cycles : 2).[0m ×2 + 10.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004081760719478 + 10.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004081760719478[0m ×2 + 10.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880011355591 + 10.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880011355591[0m ×2 + 10.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005120117430909 + 10.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005120117430909[0m ×2 + 10.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004438663458724 + 10.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004438663458724[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005365226174340 + 10.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005365226174340[0m ×2 + 10.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004555158103398 + 10.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004555158103398[0m ×2 + 10.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005467662706769 + 10.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005467662706769[0m ×2 + 10.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005510579849685 + 10.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005510579849685[0m ×2 + 10.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004605344981255 + 10.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004605344981255[0m ×2 + 10.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005105540662159 + 10.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005105540662159[0m ×2 + 10.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004322743386070 + 10.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004322743386070[0m ×2 + 10.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005270931346828 + 10.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005270931346828[0m ×2 + 10.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005350054333995 + 10.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005350054333995[0m ×2 + 10.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298295005395 + 10.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298295005395[0m ×2 + 10.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005302649077090 + 10.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005302649077090[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005800720345145 + 10.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005800720345145[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004794673673828 + 10.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004794673673828[0m ×2 + 10.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005293494568376 + 10.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005293494568376[0m ×2 + 10.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004440899755898 + 10.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004440899755898[0m ×2 + 10.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005363743476914 + 10.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005363743476914[0m ×2 + 10.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003337091568940 + 10.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003337091568940[0m ×2 + 10.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004799300790104 + 10.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004799300790104[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005711931183064 + 10.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005711931183064[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006633449675481 + 10.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006633449675481[0m ×2 + 10.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005365440308770 + 10.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005365440308770[0m ×2 + 10.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005939458657387 + 10.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005939458657387[0m ×2 + 10.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006208582980590 + 10.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006208582980590[0m ×2 + 10.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004989989988742 + 10.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004989989988742[0m ×2 + 10.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005625605880008 + 10.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005625605880008[0m ×2 + 10.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005894002754751 + 10.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005894002754751[0m ×2 + 10.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004744869093387 + 10.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004744869093387[0m ×2 + 10.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005660533129434 + 10.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005660533129434[0m ×2 + 10.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004571579418869 + 10.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004571579418869[0m ×2 + 10.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005313294581002 + 10.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005313294581002[0m ×2 + 10.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005807164356876 + 10.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005807164356876[0m ×2 + 10.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004665382110171 + 10.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004665382110171[0m ×2 + 10.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005576778355567 + 10.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005576778355567[0m ×2 + 10.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004500780420944 + 10.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004500780420944[0m ×2 + 10.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005249147271869 + 10.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005249147271869[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005740727984809 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005740727984809[0m ×2 + 10.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004613714283546 + 10.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004613714283546[0m ×2 + 10.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005520766774598 + 10.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005520766774598[0m ×2 + 10.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004174346551503 + 10.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004174346551503[0m ×2 + 10.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003716167139116 + 10.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003716167139116[0m ×2 + 10.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004837678152251 + 10.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004837678152251[0m ×2 + 10.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006464246303407 + 10.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006464246303407[0m ×2 + 10.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004659961745261 + 10.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004659961745261[0m ×2 + 10.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003950580958875 + 10.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003950580958875[0m ×2 + 10.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004977790229959 + 10.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004977790229959[0m ×2 + 10.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006594578521843 + 10.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006594578521843[0m ×2 + 10.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006607710800309 + 10.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006607710800309[0m ×2 + 10.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007080010774988 + 10.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007080010774988[0m ×2 + 10.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006823681475336 + 10.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006823681475336[0m ×2 + 10.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005219178543638 + 10.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005219178543638[0m ×2 + 10.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006088991147396 + 10.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006088991147396[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006070680490368 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006070680490368[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006324810724587 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006324810724587[0m ×2 + 10.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004832572325334 + 10.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004832572325334[0m ×2 + 10.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005241603413504 + 10.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005241603413504[0m ×2 + 10.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006106409347572 + 10.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006106409347572[0m ×2 + 10.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006050355350728 + 10.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006050355350728[0m ×2 + 10.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003043936574381 + 10.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003043936574381[0m ×2 + 10.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004310498546837 + 10.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004310498546837[0m ×2 + 10.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005125776178822 + 10.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005125776178822[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006708981548401 + 10.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006708981548401[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006592470677789 + 10.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006592470677789[0m ×2 + 10.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007446389986138 + 10.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007446389986138[0m ×2 + 10.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006961737951965 + 10.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006961737951965[0m ×2 + 10.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006570124716251 + 10.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006570124716251[0m ×2 + 10.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006818992126725 + 10.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006818992126725[0m ×2 + 10.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006422039656698 + 10.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006422039656698[0m ×2 + 10.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006665182728130 + 10.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006665182728130[0m ×2 + 10.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006216918063954 + 10.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006216918063954[0m ×2 + 10.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006347499759601 + 10.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006347499759601[0m ×2 + 10.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006377150713761 + 10.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006377150713761[0m ×2 + 10.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006063833953532 + 10.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006063833953532[0m ×2 + 10.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006505602575635 + 10.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006505602575635[0m ×2 + 10.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006111943554874 + 10.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006111943554874[0m ×2 + 10.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006350458849874 + 10.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006350458849874[0m ×2 + 10.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005985997059467 + 10.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005985997059467[0m ×2 + 10.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005740253304560 + 10.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005740253304560[0m ×2 + 10.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006179049261101 + 10.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006179049261101[0m ×2 + 10.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005852525475359 + 10.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005852525475359[0m ×2 + 10.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006290232640609 + 10.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006290232640609[0m ×2 + 10.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006292806597683 + 10.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006292806597683[0m ×2 + 10.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005976195861792 + 10.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005976195861792[0m ×2 + 10.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006779557695966 + 10.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006779557695966[0m ×2 + 10.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006243579646581 + 10.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006243579646581[0m ×2 + 10.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005869780633237 + 10.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005869780633237[0m ×2 + 10.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005619319687829 + 10.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005619319687829[0m ×2 + 10.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005458527824857 + 10.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005458527824857[0m ×2 + 10.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006927476468376 + 10.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006927476468376[0m ×2 + 10.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006260793738336 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006260793738336[0m ×2 + 10.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005805333887066 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005805333887066[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006592843026989 + 10.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006592843026989[0m ×2 + 10.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005994339252901 + 10.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005994339252901[0m ×2 + 10.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006779139604582 + 10.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006779139604582[0m ×2 + 10.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006249117762692 + 10.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006249117762692[0m ×2 + 10.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007029438427577 + 10.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007029438427577[0m ×2 + 10.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006404719594928 + 10.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006404719594928[0m ×2 + 10.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007180463010790 + 10.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007180463010790[0m ×2 + 10.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006398603013178 + 10.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006398603013178[0m ×2 + 10.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007171513717288 + 10.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007171513717288[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006330590113428 + 10.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006330590113428[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005760766506833 + 10.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005760766506833[0m ×2 + 10.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007177618910275 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007177618910275[0m ×2 + 10.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006258904621664 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006258904621664[0m ×2 + 10.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007021381535690 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007021381535690[0m ×2 + 10.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006118926462305 + 10.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006118926462305[0m ×2 + 10.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005531586181015 + 10.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005531586181015[0m ×2 + 10.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006930207517608 + 10.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006930207517608[0m ×2 + 10.92sWARNcontroller_managerOverrun might occur, Total time : 7945.407 us (Expected < 1666.667 us) --> Read time : 140.737 us, Update time : 345.746 us, Write time : 7458.924 us + 10.93sWARNros2_control_nodeOverrun might occur, Total time : 7945.407 us (Expected < 1666.667 us) --> Read time : 140.737 us, Update time : 345.746 us, Write time : 7458.924 us[0m ×2 + 10.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006031342702805 + 10.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006031342702805[0m ×2 + 10.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004597230709104 + 10.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004597230709104[0m ×2 + 10.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005344639444316 + 10.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005344639444316[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007426893128441 + 10.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007426893128441[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008665352729204 + 10.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008665352729204[0m ×2 + 10.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009064661941385 + 10.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009064661941385[0m ×2 + 10.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007427054544306 + 10.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007427054544306[0m ×2 + 10.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008161758737279 + 10.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008161758737279[0m ×2 + 10.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006742598051533 + 10.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006742598051533[0m ×2 + 11.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007908700085483 + 11.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007908700085483[0m ×2 + 11.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006490562728075 + 11.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006490562728075[0m ×2 + 11.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007659906477244 + 11.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007659906477244[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007870838021626 + 11.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007870838021626[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006410660781724 + 11.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006410660781724[0m ×2 + 11.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007127948607723 + 11.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007127948607723[0m ×2 + 11.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005906296903247 + 11.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005906296903247[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007225547549368 + 11.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007225547549368[0m ×2 + 11.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005711457303765 + 11.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005711457303765[0m ×2 + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.407836 ms (missed cycles : 4). + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.407836 ms (missed cycles : 4).[0m ×2 + 11.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005293003759307 + 11.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005293003759307[0m ×2 + 11.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006981711979188 + 11.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006981711979188[0m ×2 + 11.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008272850294664 + 11.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008272850294664[0m ×2 + 11.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008788059196878 + 11.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008788059196878[0m ×2 + 11.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008986864496324 + 11.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008986864496324[0m ×2 + 11.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009018835252898 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009018835252898[0m ×2 + 11.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004620143445313 + 11.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004620143445313[0m ×2 + 11.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006404228696955 + 11.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006404228696955[0m ×2 + 11.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008722723780668 + 11.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008722723780668[0m ×2 + 11.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008920192174770 + 11.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008920192174770[0m ×2 + 11.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008907515722289 + 11.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008907515722289[0m ×2 + 11.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009575746273852 + 11.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009575746273852[0m ×2 + 11.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007257298783947 + 11.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007257298783947[0m ×2 + 11.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008485685246280 + 11.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008485685246280[0m ×2 + 11.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008397275223580 + 11.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008397275223580[0m ×2 + 11.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008273222801654 + 11.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008273222801654[0m ×2 + 11.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008464981084555 + 11.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008464981084555[0m ×2 + 11.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005556818609739 + 11.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005556818609739[0m ×2 + 11.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006522435100900 + 11.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006522435100900[0m ×2 + 11.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008726050931150 + 11.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008726050931150[0m ×2 + 11.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008478329078952 + 11.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008478329078952[0m ×2 + 11.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009117409193962 + 11.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009117409193962[0m ×2 + 11.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008622415972384 + 11.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008622415972384[0m ×2 + 11.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008225987270134 + 11.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008225987270134[0m ×2 + 11.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008566825390940 + 11.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008566825390940[0m ×2 + 11.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008125221641550 + 11.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008125221641550[0m ×2 + 11.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008463442687366 + 11.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008463442687366[0m ×2 + 11.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008003622374253 + 11.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008003622374253[0m ×2 + 11.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008372041533314 + 11.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008372041533314[0m ×2 + 11.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007980458022639 + 11.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007980458022639[0m ×2 + 11.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007671144127219 + 11.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007671144127219[0m ×2 + 11.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009733143173111 + 11.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009733143173111[0m ×2 + 11.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008685944481013 + 11.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008685944481013[0m ×2 + 11.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009283363366447 + 11.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009283363366447[0m ×2 + 11.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008303897571919 + 11.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008303897571919[0m ×2 + 11.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007628545485222 + 11.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007628545485222[0m ×2 + 11.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008716049246287 + 11.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008716049246287[0m ×2 + 11.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007841537652579 + 11.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007841537652579[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007258176034943 + 11.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007258176034943[0m ×2 + 11.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009235993644847 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009235993644847[0m ×2 + 11.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008189368724870 + 11.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008189368724870[0m ×2 + 11.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009241833920878 + 11.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009241833920878[0m ×2 + 11.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008123858107088 + 11.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008123858107088[0m ×2 + 11.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010369334113062 + 11.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010369334113062[0m ×2 + 11.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010532591038578 + 11.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010532591038578[0m ×2 + 11.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008776818345555 + 11.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008776818345555[0m ×2 + 11.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009798488766400 + 11.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009798488766400[0m ×2 + 11.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007991223024159 + 11.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007991223024159[0m ×2 + 11.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007395559581572 + 11.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007395559581572[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009721247866332 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009721247866332[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010700014094938 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010700014094938[0m ×2 + 11.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008799258679764 + 11.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008799258679764[0m ×2 + 11.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010287869639667 + 11.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010287869639667[0m ×2 + 11.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010805788140036 + 11.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010805788140036[0m ×2 + 11.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008633303547374 + 11.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008633303547374[0m ×2 + 11.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010385678055757 + 11.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010385678055757[0m ×2 + 11.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008243580941867 + 11.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008243580941867[0m ×2 + 11.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009549874421444 + 11.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009549874421444[0m ×2 + 11.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010476051340697 + 11.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010476051340697[0m ×2 + 11.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008177953826602 + 11.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008177953826602[0m ×2 + 11.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009333909366141 + 11.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009333909366141[0m ×2 + 11.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011005765002951 + 11.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011005765002951[0m ×2 + 11.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008390903389206 + 11.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008390903389206[0m ×2 + 11.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010043524425424 + 11.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010043524425424[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010267041927987 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010267041927987[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010524655240366 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010524655240366[0m ×2 + 11.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007917555683251 + 11.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007917555683251[0m ×2 + 11.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008777635753886 + 11.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008777635753886[0m ×2 + 11.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010367756144055 + 11.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010367756144055[0m ×2 + 11.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010237838704006 + 11.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010237838704006[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004719276700819 + 11.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004719276700819[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007560084396621 + 11.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007560084396621[0m ×2 + 11.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013089698021474 + 11.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013089698021474[0m ×2 + 11.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011913160054569 + 11.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011913160054569[0m ×2 + 11.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010923710226072 + 11.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010923710226072[0m ×2 + 11.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010731205119511 + 11.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010731205119511[0m ×2 + 11.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014049277440445 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014049277440445[0m ×2 + 11.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011791415420372 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011791415420372[0m ×2 + 11.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012529655788432 + 11.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012529655788432[0m ×2 + 11.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010613831385356 + 11.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010613831385356[0m ×2 + 11.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011955219295708 + 11.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011955219295708[0m ×2 + 11.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010089365040240 + 11.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010089365040240[0m ×2 + 11.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008829914702890 + 11.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008829914702890[0m ×2 + 11.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011230504640312 + 11.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011230504640312[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009451749549472 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009451749549472[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011948279844645 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011948279844645[0m ×2 + 11.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012622023997157 + 11.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012622023997157[0m ×2 + 11.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010138361971160 + 11.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010138361971160[0m ×2 + 11.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012006642050709 + 11.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012006642050709[0m ×2 + 11.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008940711606835 + 11.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008940711606835[0m ×2 + 11.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011048250730974 + 11.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011048250730974[0m ×2 + 11.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012170471221675 + 11.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012170471221675[0m ×2 + 11.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012640119966746 + 11.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012640119966746[0m ×2 + 11.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014628516956057 + 11.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014628516956057[0m ×2 + 11.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010757462336029 + 11.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010757462336029[0m ×2 + 11.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012701618621470 + 11.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012701618621470[0m ×2 + 11.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012365542149774 + 11.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012365542149774[0m ×2 + 11.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013384717695530 + 11.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013384717695530[0m ×2 + 11.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012520426274774 + 11.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012520426274774[0m ×2 + 11.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011774338001935 + 11.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011774338001935[0m ×2 + 11.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012738185677947 + 11.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012738185677947[0m ×2 + 11.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011697223763134 + 11.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011697223763134[0m ×2 + 11.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011753340677564 + 11.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011753340677564[0m ×2 + 11.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014796401866186 + 11.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014796401866186[0m ×2 + 11.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012674049140605 + 11.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012674049140605[0m ×2 + 11.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015603699834165 + 11.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015603699834165[0m ×2 + 11.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012813945617821 + 11.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012813945617821[0m ×2 + 11.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010822801053344 + 11.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010822801053344[0m ×2 + 11.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013566327797997 + 11.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013566327797997[0m ×2 + 11.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011066396465373 + 11.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011066396465373[0m ×2 + 11.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013706415903239 + 11.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013706415903239[0m ×2 + 11.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014978898489137 + 11.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014978898489137[0m ×2 + 11.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017372851078547 + 11.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017372851078547[0m ×2 + 11.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017735832691826 + 11.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017735832691826[0m ×2 + 11.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016438400520848 + 11.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016438400520848[0m ×2 + 11.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015105629563518 + 11.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015105629563518[0m ×2 + 11.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016237208045715 + 11.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016237208045715[0m ×2 + 11.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014918763312181 + 11.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014918763312181[0m ×2 + 11.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016820730055898 + 11.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016820730055898[0m ×2 + 12.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014345587832077 + 12.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014345587832077[0m ×2 + 12.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017549752927541 + 12.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017549752927541[0m ×2 + 12.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018035491119608 + 12.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018035491119608[0m ×2 + 12.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014160815117150 + 12.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014160815117150[0m ×2 + 12.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015913900878971 + 12.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015913900878971[0m ×2 + 12.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016270206683481 + 12.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016270206683481[0m ×2 + 12.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018755163523681 + 12.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018755163523681[0m ×2 + 12.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017138768738737 + 12.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017138768738737[0m ×2 + 12.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015411883131600 + 12.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015411883131600[0m ×2 + 12.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013760844708821 + 12.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013760844708821[0m ×2 + 12.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009328890698418 + 12.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009328890698418[0m ×2 + 12.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011246236710907 + 12.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011246236710907[0m ×2 + 12.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820088 ms (missed cycles : 2). + 12.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007707780725349 + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820088 ms (missed cycles : 2).[0m ×2 + 12.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007707780725349[0m ×2 + 12.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004135002852937 + 12.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004135002852937[0m ×2 + 12.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004316039841822 + 12.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004316039841822[0m ×2 + 12.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003750980764146 + 12.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003750980764146[0m ×2 + 12.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005435821609133 + 12.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005435821609133[0m ×2 + 12.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004657944823785 + 12.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004657944823785[0m ×2 + 12.13sWARNcontroller_managerOverrun might occur, Total time : 1682.309 us (Expected < 1666.667 us) --> Read time : 178.728 us, Update time : 1220.438 us, Write time : 283.143 us + 12.13sWARNros2_control_nodeOverrun might occur, Total time : 1682.309 us (Expected < 1666.667 us) --> Read time : 178.728 us, Update time : 1220.438 us, Write time : 283.143 us[0m ×2 + 12.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006764835499100 + 12.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006764835499100[0m ×2 + 12.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011942523123561 + 12.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011942523123561[0m ×2 + 12.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006766842691103 + 12.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006766842691103[0m ×2 + 12.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007084263029503 + 12.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007084263029503[0m ×2 + 12.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008250612738065 + 12.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008250612738065[0m ×2 + 12.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006041927107502 + 12.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006041927107502[0m ×2 + 12.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006394082523097 + 12.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006394082523097[0m ×2 + 12.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006562022457722 + 12.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006562022457722[0m ×2 + 12.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002998795630804 + 12.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002998795630804[0m ×2 + 12.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000843895428090 ×2 + 12.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000843895428090[0m ×4 + 12.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003275574208519 + 12.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003275574208519[0m ×2 + 12.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004841400085665 + 12.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004841400085665[0m ×2 + 12.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005768607938082 + 12.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005768607938082[0m ×2 + 12.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006284626272926 + 12.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006284626272926[0m ×2 + 12.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005066641967660 + 12.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005066641967660[0m ×2 + 12.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005705927862154 + 12.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005705927862154[0m ×2 + 12.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004606660719682 + 12.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004606660719682[0m ×2 + 12.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003844101868136 + 12.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003844101868136[0m ×2 + 12.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010742631255439 + 12.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010742631255439[0m ×2 + 12.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008327923961892 + 12.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008327923961892[0m ×2 + 12.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008603002019007 + 12.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008603002019007[0m ×2 + 12.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005843651241963 + 12.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005843651241963[0m ×2 + 12.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004989815489932 + 12.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004989815489932[0m ×2 + 12.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002101793705710 + 12.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002101793705710[0m ×2 + 12.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002924478705385 + 12.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002924478705385[0m ×2 + 12.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003436930153232 + 12.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003436930153232[0m ×2 + 12.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002906904726932 + 12.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002906904726932[0m ×2 + 12.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003535098012631 + 12.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003535098012631[0m ×2 + 12.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002007948655411 + 12.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002007948655411[0m ×2 + 12.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003039088769573 + 12.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003039088769573[0m ×2 + 12.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003662263356244 + 12.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003662263356244[0m ×2 + 12.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133592024908 + 12.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133592024908[0m ×2 + 12.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482814679005 + 12.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482814679005[0m ×2 + 12.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482886725847 + 12.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482886725847[0m ×2 + 12.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002200380052255 + 12.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002200380052255[0m ×2 + 12.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003425359766808 + 12.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003425359766808[0m ×2 + 12.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003224470235815 + 12.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003224470235815[0m ×2 + 12.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004069446156324 + 12.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004069446156324[0m ×2 + 12.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004420706563247 + 12.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004420706563247[0m ×2 + 12.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004824360910588 + 12.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004824360910588[0m ×2 + 12.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004833092545158 + 12.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004833092545158[0m ×2 + 12.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003982683513824 + 12.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003982683513824[0m ×2 + 12.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002212902973102 ×2 + 12.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002212902973102[0m ×4 + 12.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003944659355683 + 12.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003944659355683[0m ×2 + 12.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004123933614561 + 12.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004123933614561[0m ×2 + 12.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004531628018869 + 12.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004531628018869[0m ×2 + 12.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005136346930564 + 12.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005136346930564[0m ×2 + 12.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005093944309328 + 12.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005093944309328[0m ×2 + 12.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004978084237568 + 12.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004978084237568[0m ×2 + 12.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005564939340207 + 12.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005564939340207[0m ×2 + 12.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005208058346230 + 12.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005208058346230[0m ×2 + 12.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005239984474348 + 12.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005239984474348[0m ×2 + 12.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002981827865029 + 12.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002981827865029[0m ×2 + 12.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003603336848587 + 12.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003603336848587[0m ×2 + 12.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004196140626951 + 12.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004196140626951[0m ×2 + 12.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003192191750304 + 12.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003192191750304[0m ×2 + 12.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003760482635457 + 12.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003760482635457[0m ×2 + 12.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004831660503541 + 12.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004831660503541[0m ×2 + 12.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003872810473642 + 12.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003872810473642[0m ×2 + 12.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004445261341284 + 12.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004445261341284[0m ×2 + 12.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006081101932277 + 12.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006081101932277[0m ×2 + 12.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006346203416907 + 12.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006346203416907[0m ×2 + 12.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002524974944951 + 12.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002524974944951[0m ×2 + 12.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002940915427032 + 12.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002940915427032[0m ×2 + 12.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003268308969491 + 12.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003268308969491[0m ×2 + 12.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003514510465427 + 12.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003514510465427[0m ×2 + 12.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004410349816734 + 12.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004410349816734[0m ×2 + 12.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245403383247 + 12.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245403383247[0m ×2 + 12.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004507030223822 + 12.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004507030223822[0m ×2 + 12.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004622359706909 + 12.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004622359706909[0m ×2 + 12.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005530356340209 + 12.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005530356340209[0m ×2 + 12.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005791262690941 + 12.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005791262690941[0m ×2 + 12.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006733966133365 + 12.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006733966133365[0m ×2 + 12.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015254245878994 + 12.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015254245878994[0m ×2 + 12.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015711364719123 + 12.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015711364719123[0m ×2 + 12.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011031954187958 + 12.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011031954187958[0m ×2 + 12.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011407760388592 + 12.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011407760388592[0m ×2 + 12.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007191288857749 + 12.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007191288857749[0m ×2 + 12.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005073596813553 + 12.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005073596813553[0m ×2 + 12.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005604364578059 + 12.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005604364578059[0m ×2 + 12.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011768540450132 + 12.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011768540450132[0m ×2 + 12.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011771037076973 + 12.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011771037076973[0m ×2 + 12.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009136953127652 + 12.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009136953127652[0m ×2 + 12.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009267334875418 + 12.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009267334875418[0m ×2 + 12.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002808273585285 + 12.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002808273585285[0m ×2 + 12.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002434623411767 + 12.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002434623411767[0m ×2 + 12.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428937235624 + 12.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428937235624[0m ×2 + 12.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008397078717472 + 12.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008397078717472[0m ×2 + 12.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007919959757934 + 12.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007919959757934[0m ×2 + 12.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007207547143037 + 12.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007207547143037[0m ×2 + 12.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009214585266024 + 12.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009214585266024[0m ×2 + 12.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007899306483377 + 12.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007899306483377[0m ×2 + 12.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007899368792176 + 12.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007899368792176[0m ×2 + 12.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008992687269481 + 12.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008992687269481[0m ×2 + 12.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009006406378588 + 12.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009006406378588[0m ×2 + 12.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007357979512906 + 12.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007357979512906[0m ×2 + 12.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006431744291733 + 12.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006431744291733[0m ×2 + 12.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007230115331058 + 12.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007230115331058[0m ×2 + 12.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006341818063918 + 12.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006341818063918[0m ×2 + 12.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007135966658849 + 12.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007135966658849[0m ×2 + 12.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006222402655001 + 12.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006222402655001[0m ×2 + 12.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003740718263500 + 12.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003740718263500[0m ×2 + 12.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005702752799821 + 12.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005702752799821[0m ×2 + 13.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006065656658832 + 13.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006065656658832[0m ×2 + 13.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007683146263767 + 13.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007683146263767[0m ×2 + 13.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007236896421870 + 13.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007236896421870[0m ×2 + 13.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009371216474962 + 13.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009371216474962[0m ×2 + 13.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009595595989032 + 13.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009595595989032[0m ×2 + 13.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007940048016896 + 13.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007940048016896[0m ×2 + 13.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008655897564913 + 13.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008655897564913[0m ×2 + 13.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009929652252241 + 13.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009929652252241[0m ×2 + 13.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009093717561533 + 13.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009093717561533[0m ×2 + 13.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009470525868053 + 13.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009470525868053[0m ×2 + 13.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007454235558512 + 13.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007454235558512[0m ×2 + 13.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002782288629656 + 13.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002782288629656[0m ×2 + 13.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004155997522756 + 13.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004155997522756[0m ×2 + 13.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001659981123517 ×2 + 13.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001659981123517[0m ×4 + 13.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000199058908752 ×2 + 13.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000199058908752[0m ×4 + 13.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003003272647650 + 13.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003003272647650[0m ×2 + 13.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004555972878128 + 13.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004555972878128[0m ×2 + 13.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005471029543503 + 13.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005471029543503[0m ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403490 ms (missed cycles : 2). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403490 ms (missed cycles : 2).[0m ×2 + 13.13sWARNcontroller_managerOverrun might occur, Total time : 2293.879 us (Expected < 1666.667 us) --> Read time : 191.570 us, Update time : 71.463 us, Write time : 2030.846 us + 13.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008629158229418 + 13.14sWARNros2_control_nodeOverrun might occur, Total time : 2293.879 us (Expected < 1666.667 us) --> Read time : 191.570 us, Update time : 71.463 us, Write time : 2030.846 us[0m ×2 + 13.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008629158229418[0m ×2 + 13.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006826398501360 + 13.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006826398501360[0m ×2 + 13.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009192965110441 + 13.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009192965110441[0m ×2 + 13.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009691225737936 + 13.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009691225737936[0m ×2 + 13.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008067278417209 + 13.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008067278417209[0m ×2 + 13.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008780564890908 + 13.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008780564890908[0m ×2 + 13.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002533656181651 + 13.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002533656181651[0m ×2 + 13.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003220519094511 + 13.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003220519094511[0m ×2 + 13.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005747712352716 + 13.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005747712352716[0m ×2 + 13.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007148533727835 + 13.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007148533727835[0m ×2 + 13.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009416252413683 + 13.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009416252413683[0m ×2 + 13.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007315676779973 + 13.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007315676779973[0m ×2 + 13.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007145712556273 + 13.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007145712556273[0m ×2 + 13.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008211936038310 + 13.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008211936038310[0m ×2 + 13.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006119421222169 + 13.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006119421222169[0m ×2 + 13.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006622866520374 + 13.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006622866520374[0m ×2 + 13.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006662577134774 + 13.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006662577134774[0m ×2 + 13.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006902213884570 + 13.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006902213884570[0m ×2 + 13.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007178707525433 + 13.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007178707525433[0m ×2 + 13.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007087104548615 + 13.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007087104548615[0m ×2 + 13.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006819460789657 + 13.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006819460789657[0m ×2 + 13.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007082112033623 + 13.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007082112033623[0m ×2 + 13.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006819699854798 + 13.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006819699854798[0m ×2 + 13.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007071578898595 + 13.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007071578898595[0m ×2 + 13.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006716710683450 + 13.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006716710683450[0m ×2 + 13.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006426909089295 + 13.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006426909089295[0m ×2 + 13.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006871403748996 + 13.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006871403748996[0m ×2 + 13.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005116714414038 + 13.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005116714414038[0m ×2 + 13.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006040107090042 + 13.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006040107090042[0m ×2 + 13.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007249562731187 + 13.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007249562731187[0m ×2 + 13.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005069465900034 + 13.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005069465900034[0m ×2 + 13.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009464717575602 + 13.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009464717575602[0m ×2 + 13.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009497056294690 + 13.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009497056294690[0m ×2 + 13.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006021498763525 + 13.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006021498763525[0m ×2 + 13.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006834924830695 + 13.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006834924830695[0m ×2 + 13.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007263891245574 + 13.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007263891245574[0m ×2 + 13.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005835487185422 + 13.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005835487185422[0m ×2 + 13.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006587630597779 + 13.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006587630597779[0m ×2 + 13.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006746582617025 + 13.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006746582617025[0m ×2 + 13.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007005716575163 + 13.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007005716575163[0m ×2 + 13.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005377619411043 + 13.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005377619411043[0m ×2 + 13.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006122269416266 + 13.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006122269416266[0m ×2 + 13.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005791537046371 + 13.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005791537046371[0m ×2 + 13.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010475217123 + 13.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010475217123[0m ×2 + 13.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006159702090776 + 13.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006159702090776[0m ×2 + 13.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005495107415177 + 13.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005495107415177[0m ×2 + 13.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005426337059254 + 13.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005426337059254[0m ×2 + 13.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003598617426113 + 13.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003598617426113[0m ×2 + 13.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004546056254342 + 13.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004546056254342[0m ×2 + 13.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007655096628754 + 13.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007655096628754[0m ×2 + 13.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007598043828814 + 13.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007598043828814[0m ×2 + 13.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004535041539592 + 13.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004535041539592[0m ×2 + 13.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007329205676487 + 13.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007329205676487[0m ×2 + 13.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000079471670768 + 13.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000079471670768[0m ×2 + 13.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010581091495575 + 13.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010581091495575[0m ×2 + 13.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004411569941836 + 13.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004411569941836[0m ×2 + 13.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000763002991623 + 13.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000763002991623[0m ×2 + 13.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010321314368123 + 13.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010321314368123[0m ×2 + 13.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004357524858614 + 13.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004357524858614[0m ×2 + 13.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000722366979447 + 13.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000722366979447[0m ×2 + 13.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009948875690478 + 13.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009948875690478[0m ×2 + 13.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008439668428991 + 13.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008439668428991[0m ×2 + 13.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001059218810856 + 13.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001059218810856[0m ×2 + 13.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010227941313964 + 13.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010227941313964[0m ×2 + 13.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000176288137049 + 13.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000176288137049[0m ×2 + 13.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013960800299642 + 13.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013960800299642[0m ×2 + 13.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006320055803361 + 13.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006320055803361[0m ×2 + 13.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992990365730 + 13.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992990365730[0m ×2 + 13.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007093331354658 + 13.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007093331354658[0m ×2 + 13.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006816256757092 + 13.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006816256757092[0m ×2 + 13.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001962926629246 + 13.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001962926629246[0m ×2 + 13.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002047206149548 + 13.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002047206149548[0m ×2 + 13.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013201182719565 + 13.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013201182719565[0m ×2 + 13.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000464047410111 + 13.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000464047410111[0m ×2 + 13.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967887988743 + 13.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967887988743[0m ×2 + 13.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000391583241085 + 13.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000391583241085[0m ×2 + 13.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005588818491908 + 13.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005588818491908[0m ×2 + 13.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003425912610388 + 13.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003425912610388[0m ×2 + 13.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003201447162373 + 13.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003201447162373[0m ×2 + 13.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003340262792912 + 13.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003340262792912[0m ×2 + 13.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004156823860390 + 13.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004156823860390[0m ×2 + 13.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004004464365949 + 13.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004004464365949[0m ×2 + 13.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004303364306323 + 13.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004303364306323[0m ×2 + 13.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004518558935325 + 13.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004518558935325[0m ×2 + 13.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005208206973469 + 13.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005208206973469[0m ×2 + 13.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004682361944135 + 13.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004682361944135[0m ×2 + 13.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005252782029059 + 13.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005252782029059[0m ×2 + 13.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000095418006029 + 13.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000095418006029[0m ×2 + 13.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006798349283484 + 13.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006798349283484[0m ×2 + 13.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001547349141405 + 13.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001547349141405[0m ×2 + 13.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005118719078651 + 13.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005118719078651[0m ×2 + 13.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002582106823097 + 13.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002582106823097[0m ×2 + 13.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004019013942990 + 13.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004019013942990[0m ×2 + 13.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004295951311280 + 13.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004295951311280[0m ×2 + 13.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006867370671804 + 13.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006867370671804[0m ×2 + 13.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000533997482582 + 13.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000533997482582[0m ×2 + 13.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004872551254528 + 13.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004872551254528[0m ×2 + 13.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001477710680110 + 13.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001477710680110[0m ×2 + 13.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007862134804552 + 13.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007862134804552[0m ×2 + 13.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001265387805012 + 13.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001265387805012[0m ×2 + 13.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003481122438413 + 13.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003481122438413[0m ×2 + 13.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002454243903746 + 13.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002454243903746[0m ×2 + 13.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006746555025381 + 13.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006746555025381[0m ×2 + 13.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002268762924211 + 13.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002268762924211[0m ×2 + 13.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007246567777031 + 13.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007246567777031[0m ×2 + 13.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001430525353464 + 13.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001430525353464[0m ×2 + 13.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002373491348366 + 13.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002373491348366[0m ×2 + 13.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000163948763503 + 13.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000163948763503[0m ×2 + 13.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005177783887511 + 13.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005177783887511[0m ×2 + 13.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002269343248168 + 13.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002269343248168[0m ×2 + 13.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001249068739950 + 13.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001249068739950[0m ×2 + 13.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000349192273197 + 13.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000349192273197[0m ×2 + 13.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003850043079194 + 13.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003850043079194[0m ×2 + 13.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001741118479037 + 13.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001741118479037[0m ×2 + 13.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004677321340088 + 13.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004677321340088[0m ×2 + 13.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001604934578387 + 13.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001604934578387[0m ×2 + 13.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005303338871022 + 13.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005303338871022[0m ×2 + 14.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002279129647933 + 14.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002279129647933[0m ×2 + 14.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005499031717347 + 14.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005499031717347[0m ×2 + 14.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000642396710200 + 14.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000642396710200[0m ×2 + 14.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003978419170844 + 14.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003978419170844[0m ×2 + 14.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001431760708641 + 14.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001431760708641[0m ×2 + 14.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004265549388214 + 14.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004265549388214[0m ×2 + 14.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000969856034356 + 14.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000969856034356[0m ×2 + 14.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004839692952515 + 14.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004839692952515[0m ×2 + 14.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000222668489906 + 14.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000222668489906[0m ×2 + 14.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006353672296024 + 14.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006353672296024[0m ×2 + 14.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000974800289386 + 14.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000974800289386[0m ×2 + 14.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004392346370626 + 14.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004392346370626[0m ×2 + 14.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001594597157083 + 14.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001594597157083[0m ×2 + 14.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004919047135130 + 14.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004919047135130[0m ×2 + 14.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001744271944400 + 14.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001744271944400[0m ×2 + 14.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005369434735410 + 14.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005369434735410[0m ×2 + 14.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000518737076611 + 14.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000518737076611[0m ×2 + 14.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004361149854626 + 14.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004361149854626[0m ×2 + 14.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002004717715198 + 14.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002004717715198[0m ×2 + 14.17sWARNcontroller_managerOverrun might occur, Total time : 2036.508 us (Expected < 1666.667 us) --> Read time : 200.550 us, Update time : 1550.744 us, Write time : 285.214 us + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548307 ms (missed cycles : 2). + 14.17sWARNros2_control_nodeOverrun might occur, Total time : 2036.508 us (Expected < 1666.667 us) --> Read time : 200.550 us, Update time : 1550.744 us, Write time : 285.214 us[0m ×2 + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548307 ms (missed cycles : 2).[0m ×2 + 14.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000881911732306 + 14.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000881911732306[0m ×2 + 14.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001772331571967 + 14.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001772331571967[0m ×2 + 14.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002343687584233 + 14.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002343687584233[0m ×2 + 14.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000574166951789 + 14.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000574166951789[0m ×2 + 14.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002372862880069 + 14.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002372862880069[0m ×2 + 14.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001166980351550 + 14.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001166980351550[0m ×2 + 14.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002474087597490 + 14.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002474087597490[0m ×2 + 14.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001896732458642 + 14.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001896732458642[0m ×2 + 14.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000580190247494 + 14.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000580190247494[0m ×2 + 14.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001611329847078 + 14.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001611329847078[0m ×2 + 14.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001361011045038 + 14.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001361011045038[0m ×2 + 14.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000501896417899 + 14.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000501896417899[0m ×2 + 14.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003496134620631 + 14.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003496134620631[0m ×2 + 14.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000036872403367 + 14.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000036872403367[0m ×2 + 14.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003172863089266 + 14.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003172863089266[0m ×2 + 14.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000570543561060 + 14.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000570543561060[0m ×2 + 14.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002204457757716 + 14.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002204457757716[0m ×2 + 14.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000123688965648 + 14.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000123688965648[0m ×2 + 14.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003689681011825 + 14.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003689681011825[0m ×2 + 14.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000319183706215 + 14.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000319183706215[0m ×2 + 14.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001843794452796 + 14.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001843794452796[0m ×2 + 14.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000139703611721 + 14.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000139703611721[0m ×2 + 14.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001549203519919 + 14.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001549203519919[0m ×2 + 14.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035117970761 + 14.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035117970761[0m ×2 + 14.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002131284085416 + 14.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002131284085416[0m ×2 + 14.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000278851462212 + 14.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000278851462212[0m ×2 + 14.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002932210670068 + 14.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002932210670068[0m ×2 + 14.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000536444732263 + 14.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000536444732263[0m ×2 + 14.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002328343436708 + 14.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002328343436708[0m ×2 + 14.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000067367819155 + 14.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000067367819155[0m ×2 + 14.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002188383895604 + 14.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002188383895604[0m ×2 + 14.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000902183790803 + 14.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000902183790803[0m ×2 + 14.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000872038269052 + 14.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000872038269052[0m ×2 + 14.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001400908215378 + 14.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001400908215378[0m ×2 + 14.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001129967938750 + 14.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001129967938750[0m ×2 + 14.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001907408937661 + 14.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001907408937661[0m ×2 + 14.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000794571357496 + 14.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000794571357496[0m ×2 + 14.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001642094263386 + 14.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001642094263386[0m ×2 + 14.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000076413625505 + 14.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000076413625505[0m ×2 + 14.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001247800663797 + 14.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001247800663797[0m ×2 + 14.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001136056593304 + 14.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001136056593304[0m ×2 + 14.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000180697703930 + 14.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000180697703930[0m ×2 + 14.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001698943079114 + 14.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001698943079114[0m ×2 + 14.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000567708028990 + 14.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000567708028990[0m ×2 + 14.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001632455466269 + 14.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001632455466269[0m ×2 + 14.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071264885995 + 14.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071264885995[0m ×2 + 14.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001220695712089 + 14.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001220695712089[0m ×2 + 14.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000464801771853 + 14.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000464801771853[0m ×2 + 14.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001787720437677 + 14.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001787720437677[0m ×2 + 14.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000945149412722 + 14.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000945149412722[0m ×2 + 14.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001713178608454 + 14.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001713178608454[0m ×2 + 14.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000423800871297 + 14.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000423800871297[0m ×2 + 14.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001238299688139 + 14.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001238299688139[0m ×2 + 14.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046956630789 + 14.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046956630789[0m ×2 + 14.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001540325548433 + 14.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001540325548433[0m ×2 + 14.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000355516771770 + 14.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000355516771770[0m ×2 + 14.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001453745672932 + 14.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001453745672932[0m ×2 + 14.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000353573012861 + 14.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000353573012861[0m ×2 + 14.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000916117276422 + 14.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000916117276422[0m ×2 + 14.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000684903855762 + 14.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000684903855762[0m ×2 + 14.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000276114286630 + 14.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000276114286630[0m ×2 + 14.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000712637494195 + 14.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000712637494195[0m ×2 + 14.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000842780994183 + 14.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000842780994183[0m ×2 + 14.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000155429628258 + 14.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000155429628258[0m ×2 + 14.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001001614687419 + 14.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001001614687419[0m ×2 + 14.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000380526145999 + 14.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000380526145999[0m ×2 + 14.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000654575386778 + 14.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000654575386778[0m ×2 + 14.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000565996442790 + 14.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000565996442790[0m ×2 + 14.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000418095081499 + 14.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000418095081499[0m ×2 + 14.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000625628929892 + 14.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000625628929892[0m ×2 + 14.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000605285416605 + 14.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000605285416605[0m ×2 + 14.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000509504271252 + 14.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000509504271252[0m ×2 + 14.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000397038345802 + 14.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000397038345802[0m ×2 + 14.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000558204131397 + 14.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000558204131397[0m ×2 + 14.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000261203704982 + 14.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000261203704982[0m ×2 + 14.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000536936094584 + 14.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000536936094584[0m ×2 + 14.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000179057377076 + 14.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000179057377076[0m ×2 + 14.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001069942376496 + 14.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001069942376496[0m ×2 + 14.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000809010971547 + 14.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000809010971547[0m ×2 + 14.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000194447965715 + 14.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000194447965715[0m ×2 + 14.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000345587874428 + 14.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000345587874428[0m ×2 + 14.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000692286534805 + 14.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000692286534805[0m ×2 + 14.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000367074981361 + 14.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000367074981361[0m ×2 + 14.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000274329208970 + 14.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000274329208970[0m ×2 + 14.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000439980846993 + 14.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000439980846993[0m ×2 + 14.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000373024182108 + 14.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000373024182108[0m ×2 + 14.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000419792041071 + 14.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000419792041071[0m ×2 + 14.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000343799958911 + 14.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000343799958911[0m ×2 + 14.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000691443601181 + 14.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000691443601181[0m ×2 + 14.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000711936229232 + 14.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000711936229232[0m ×2 + 14.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000250291495564 + 14.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000250291495564[0m ×2 + 14.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000223715306971 + 14.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000223715306971[0m ×2 + 14.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000457458193204 + 14.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000457458193204[0m ×2 + 14.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063366691950 + 14.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063366691950[0m ×2 + 14.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000567014738005 + 14.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000567014738005[0m ×2 + 14.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042517196206 + 14.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042517196206[0m ×2 + 14.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000606322854438 + 14.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000606322854438[0m ×2 + 14.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000127977117714 + 14.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000127977117714[0m ×2 + 14.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000774651611355 + 14.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000774651611355[0m ×2 + 14.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000528283902334 + 14.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000528283902334[0m ×2 + 14.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000281450799372 + 14.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000281450799372[0m ×2 + 14.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136659064876 + 14.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136659064876[0m ×2 + 14.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000828943797993 + 14.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000828943797993[0m ×2 + 14.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000113623908842 + 14.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000113623908842[0m ×2 + 14.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000481590571809 + 14.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000481590571809[0m ×2 + 14.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000122013944112 + 14.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000122013944112[0m ×2 + 14.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000776666355279 + 14.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000776666355279[0m ×2 + 14.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000072345348638 + 14.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000072345348638[0m ×2 + 14.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000451475380560 + 14.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000451475380560[0m ×2 + 14.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022057276279 + 14.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022057276279[0m ×2 + 14.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000463249941831 + 14.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000463249941831[0m ×2 + 14.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000180961028972 + 14.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000180961028972[0m ×2 + 14.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000678460443123 + 14.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000678460443123[0m ×2 + 14.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000316958644160 + 14.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000316958644160[0m ×2 + 14.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000692313817470 + 14.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000692313817470[0m ×2 + 14.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000363788205054 + 14.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000363788205054[0m ×2 + 14.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000642409758147 + 14.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000642409758147[0m ×2 + 14.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000219316742598 + 14.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000219316742598[0m ×2 + 14.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000764049725455 + 14.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000764049725455[0m ×2 + 14.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000102366872229 + 14.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000102366872229[0m ×2 + 14.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000391943440587 + 14.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000391943440587[0m ×2 + 14.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007214869961 + 14.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007214869961[0m ×2 + 15.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000442217102562 + 15.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000442217102562[0m ×2 + 15.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000247770307055 + 15.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000247770307055[0m ×2 + 15.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000143949143845 + 15.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000143949143845[0m ×2 + 15.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000316068898275 + 15.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000316068898275[0m ×2 + 15.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012140709091 + 15.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012140709091[0m ×2 + 15.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000465199337348 + 15.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000465199337348[0m ×2 + 15.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000069287419667 + 15.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000069287419667[0m ×2 + 15.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000206987033634 + 15.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000206987033634[0m ×2 + 15.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000152513743880 + 15.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000152513743880[0m ×2 + 15.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000160577251772 + 15.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000160577251772[0m ×2 + 15.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000304048442179 + 15.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000304048442179[0m ×2 + 15.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000420198143188 + 15.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000420198143188[0m ×2 + 15.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000096443673612 + 15.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000096443673612[0m ×2 + 15.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000176537325691 + 15.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000176537325691[0m ×2 + 15.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000229430950441 + 15.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000229430950441[0m ×2 + 15.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077970954412 + 15.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077970954412[0m ×2 + 15.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000323645188325 + 15.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000323645188325[0m ×2 + 15.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011505385478 + 15.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011505385478[0m ×2 + 15.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000372086532441 + 15.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000372086532441[0m ×2 + 15.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031036407815 + 15.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031036407815[0m ×2 + 15.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000387746198008 + 15.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000387746198008[0m ×2 + 15.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000105578666482 + 15.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000105578666482[0m ×2 + 15.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000232471082192 + 15.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000232471082192[0m ×2 + 15.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000193764019584 + 15.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000193764019584[0m ×2 + 15.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000128496653536 + 15.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000128496653536[0m ×2 + 15.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000237594046867 + 15.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000237594046867[0m ×2 + 15.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000063040614159 + 15.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000063040614159[0m ×2 + 15.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000250264491096 + 15.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000250264491096[0m ×2 + 15.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025238495579 + 15.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025238495579[0m ×2 + 15.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000242462768749 + 15.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000242462768749[0m ×2 + 15.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006320474885 + 15.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006320474885[0m ×2 + 15.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000222406673642 + 15.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000222406673642[0m ×2 + 15.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000187743185218 + 15.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000187743185218[0m ×2 + 15.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000331401935365 + 15.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000331401935365[0m ×2 + 15.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000100044971872 + 15.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000100044971872[0m ×2 + 15.22sWARNcontroller_managerOverrun might occur, Total time : 4160.897 us (Expected < 1666.667 us) --> Read time : 159.498 us, Update time : 3616.791 us, Write time : 384.608 us + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526395 ms (missed cycles : 3). + 15.22sWARNros2_control_nodeOverrun might occur, Total time : 4160.897 us (Expected < 1666.667 us) --> Read time : 159.498 us, Update time : 3616.791 us, Write time : 384.608 us[0m ×2 + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526395 ms (missed cycles : 3).[0m ×2 + 15.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000206997857782 + 15.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000206997857782[0m ×2 + 15.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000114298833235 + 15.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000114298833235[0m ×2 + 15.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000135798122657 + 15.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000135798122657[0m ×2 + 15.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000119580992841 + 15.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000119580992841[0m ×2 + 15.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000197419495602 + 15.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000197419495602[0m ×2 + 15.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000288280591059 + 15.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000288280591059[0m ×2 + 15.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000120683977010 + 15.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000120683977010[0m ×2 + 15.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000131806954220 + 15.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000131806954220[0m ×2 + 15.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126224233664 + 15.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126224233664[0m ×2 + 15.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000156017050399 + 15.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000156017050399[0m ×2 + 15.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000053274119759 + 15.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000053274119759[0m ×2 + 15.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000195663760154 + 15.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000195663760154[0m ×2 + 15.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004389282506 + 15.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004389282506[0m ×2 + 15.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000214021965095 + 15.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000214021965095[0m ×2 + 15.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026317343635 + 15.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026317343635[0m ×2 + 15.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000217378936257 + 15.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000217378936257[0m ×2 + 15.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043899158647 + 15.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043899158647[0m ×2 + 15.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000210838778198 + 15.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000210838778198[0m ×2 + 15.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000081950459520 + 15.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000081950459520[0m ×2 + 15.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000305274162997 + 15.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000305274162997[0m ×2 + 15.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000132529091557 + 15.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000132529091557[0m ×2 + 15.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000213076964683 + 15.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000213076964683[0m ×2 + 15.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037565418683 + 15.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037565418683[0m ×2 + 15.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000158063623916 + 15.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000158063623916[0m ×2 + 15.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032344048521 + 15.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032344048521[0m ×2 + 15.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000228501852729 + 15.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000228501852729[0m ×2 + 15.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005178673353 + 15.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005178673353[0m ×2 + 15.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000120518539124 + 15.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000120518539124[0m ×2 + 15.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031862270816 + 15.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031862270816[0m ×2 + 15.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000102199815599 + 15.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000102199815599[0m ×2 + 15.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096014693213 + 15.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096014693213[0m ×2 + 15.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000187984886726 + 15.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000187984886726[0m ×2 + 15.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025142277934 + 15.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025142277934[0m ×2 + 15.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000085333386940 + 15.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000085333386940[0m ×2 + 15.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072037323170 + 15.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072037323170[0m ×2 + 15.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055863460338 + 15.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055863460338[0m ×2 + 15.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000100358578009 + 15.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000100358578009[0m ×2 + 15.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000086643187624 + 15.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000086643187624[0m ×2 + 15.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000100789685954 + 15.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000100789685954[0m ×2 + 15.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000057734913751 + 15.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000057734913751[0m ×2 + 15.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000124818315066 + 15.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000124818315066[0m ×2 + 15.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038103769877 + 15.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038103769877[0m ×2 + 15.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136205451972 + 15.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136205451972[0m ×2 + 15.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025506918841 + 15.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025506918841[0m ×2 + 15.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000138298301575 + 15.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000138298301575[0m ×2 + 15.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018000050137 + 15.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018000050137[0m ×2 + 15.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000133973987837 + 15.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000133973987837[0m ×2 + 15.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013994095077 + 15.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013994095077[0m ×2 + 15.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000127249934840 + 15.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000127249934840[0m ×2 + 15.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000077820410187 + 15.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000077820410187[0m ×2 + 15.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062841610991 + 15.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062841610991[0m ×2 + 15.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000121409784321 + 15.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000121409784321[0m ×2 + 15.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019543826089 + 15.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019543826089[0m ×2 + 15.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000145586670425 + 15.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000145586670425[0m ×2 + 15.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004117829641 + 15.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004117829641[0m ×2 + 15.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000137635769999 + 15.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000137635769999[0m ×2 + 15.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041865915922 + 15.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041865915922[0m ×2 + 15.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000184865695934 + 15.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000184865695934[0m ×2 + 15.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014464711190 + 15.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014464711190[0m ×2 + 15.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000099781171056 + 15.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000099781171056[0m ×2 + 15.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009808075409 + 15.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009808075409[0m ×2 + 15.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000122808806476 + 15.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000122808806476[0m ×2 + 15.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080780940825 + 15.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080780940825[0m ×2 + 15.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041508415811 + 15.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041508415811[0m ×2 + 15.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025572095656 + 15.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025572095656[0m ×2 + 15.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000129383151915 + 15.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000129383151915[0m ×2 + 15.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000086329131785 + 15.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000086329131785[0m ×2 + 15.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000049461938087 + 15.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000049461938087[0m ×2 + 15.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024648143420 + 15.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024648143420[0m ×2 + 15.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000074857245867 + 15.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000074857245867[0m ×2 + 15.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008143408416 + 15.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008143408416[0m ×2 + 15.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000090570585822 + 15.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000090570585822[0m ×2 + 15.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002850921110 + 15.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002850921110[0m ×2 + 15.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000098928219136 + 15.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000098928219136[0m ×2 + 15.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009821091409 + 15.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009821091409[0m ×2 + 15.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000101924090045 + 15.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000101924090045[0m ×2 + 15.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013917344553 + 15.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013917344553[0m ×2 + 15.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000101199876568 + 15.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000101199876568[0m ×2 + 15.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016031380791 + 15.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016031380791[0m ×2 + 15.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000098049822340 + 15.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000098049822340[0m ×2 + 15.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027139574391 + 15.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027139574391[0m ×2 + 15.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000049092095448 + 15.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000049092095448[0m ×2 + 15.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052269020928 + 15.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052269020928[0m ×2 + 15.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010842040427 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010842040427[0m ×2 + 15.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000102760492475 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000102760492475[0m ×2 + 15.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024719840308 + 15.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024719840308[0m ×2 + 15.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051941514781 + 15.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051941514781[0m ×2 + 15.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000710916812 + 15.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000710916812[0m ×2 + 15.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000081456613845 + 15.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000081456613845[0m ×2 + 15.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014440428554 + 15.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014440428554[0m ×2 + 15.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039111494769 + 15.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039111494769[0m ×2 + 15.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055869471205 + 15.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055869471205[0m ×2 + 15.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024432192471 + 15.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024432192471[0m ×2 + 15.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035830374329 + 15.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035830374329[0m ×2 + 15.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037384771628 + 15.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037384771628[0m ×2 + 15.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000051118508333 + 15.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000051118508333[0m ×2 + 15.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019339188974 + 15.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019339188974[0m ×2 + 15.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070428544436 + 15.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070428544436[0m ×2 + 15.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000060240255717 + 15.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000060240255717[0m ×2 + 15.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019813086599 + 15.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019813086599[0m ×2 + 15.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028963144497 + 15.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028963144497[0m ×2 + 15.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038137488574 + 15.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038137488574[0m ×2 + 15.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014015978440 + 15.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014015978440[0m ×2 + 15.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054529078600 + 15.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054529078600[0m ×2 + 15.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003821835045 + 15.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003821835045[0m ×2 + 15.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000064338832573 + 15.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000064338832573[0m ×2 + 15.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025157910399 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025157910399[0m ×2 + 16.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037755935481 + 16.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037755935481[0m ×2 + 16.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022713796405 + 16.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022713796405[0m ×2 + 16.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000047461357552 + 16.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000047461357552[0m ×2 + 16.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051123312345 + 16.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051123312345[0m ×2 + 16.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008796759259 + 16.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008796759259[0m ×2 + 16.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000061184933711 + 16.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000061184933711[0m ×2 + 16.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010278963675 + 16.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010278963675[0m ×2 + 16.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033442525278 + 16.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033442525278[0m ×2 + 16.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031637384857 + 16.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031637384857[0m ×2 + 16.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014362794008 + 16.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014362794008[0m ×2 + 16.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052897200918 + 16.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052897200918[0m ×2 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003474224173 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003474224173[0m ×2 + 16.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056601197669 + 16.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056601197669[0m ×2 + 16.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003189343562 + 16.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003189343562[0m ×2 + 16.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000050419738540 + 16.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000050419738540[0m ×2 + 16.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007914151624 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007914151624[0m ×2 + 16.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000063736310453 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000063736310453[0m ×2 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046431272322 + 16.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046431272322[0m ×2 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020795264093 + 16.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020795264093[0m ×2 + 16.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016179988325 + 16.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016179988325[0m ×2 + 16.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033207039473 + 16.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033207039473[0m ×2 + 16.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007722957327 + 16.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007722957327[0m ×2 + 16.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052765145450 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052765145450[0m ×2 + 16.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002262994867 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002262994867[0m ×2 + 16.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054162728195 + 16.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054162728195[0m ×2 + 16.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020666429865 + 16.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020666429865[0m ×2 + 16.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008416178601 + 16.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008416178601[0m ×2 + 16.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035477902949 + 16.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035477902949[0m ×2 + 16.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005117079293 + 16.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005117079293[0m ×2 + 16.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051290893801 + 16.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051290893801[0m ×2 + 16.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031183840437 + 16.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031183840437[0m ×2 + 16.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000382162082 + 16.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000382162082[0m ×2 + 16.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027052998295 + 16.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027052998295[0m ×2 + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.787979 ms (missed cycles : 4). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.787979 ms (missed cycles : 4).[0m ×2 + 16.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015664929383 + 16.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015664929383[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052907510897 + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052907510897[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024861832634 + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024861832634[0m ×2 + 16.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054321852564 + 16.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054321852564[0m ×2 + 16.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002489918760 + 16.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002489918760[0m ×2 + 16.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033850611682 + 16.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033850611682[0m ×2 + 16.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013581395202 + 16.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013581395202[0m ×2 + 16.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019789774229 + 16.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019789774229[0m ×2 + 16.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023558015993 + 16.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023558015993[0m ×2 + 16.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014707264469 + 16.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014707264469[0m ×2 + 16.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025548912226 + 16.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025548912226[0m ×2 + 16.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013703377718 + 16.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013703377718[0m ×2 + 16.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020467419497 + 16.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020467419497[0m ×2 + 16.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009994432270 + 16.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009994432270[0m ×2 + 16.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023703743798 + 16.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023703743798[0m ×2 + 16.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007306948088 + 16.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007306948088[0m ×2 + 16.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025458148828 + 16.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025458148828[0m ×2 + 16.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005467611861 + 16.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005467611861[0m ×2 + 16.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026017794238 + 16.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026017794238[0m ×2 + 16.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004282743985 + 16.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004282743985[0m ×2 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025676048717 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025676048717[0m ×2 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016893823438 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016893823438[0m ×2 + 16.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013032373361 + 16.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013032373361[0m ×2 + 16.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026069120338 + 16.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026069120338[0m ×2 + 16.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004460955792 + 16.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004460955792[0m ×2 + 16.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031437145994 + 16.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031437145994[0m ×2 + 16.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001047101562 + 16.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001047101562[0m ×2 + 16.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034032868954 + 16.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034032868954[0m ×2 + 16.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004337212323 + 16.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004337212323[0m ×2 + 16.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034700623315 + 16.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034700623315[0m ×2 + 16.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006088963619 + 16.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006088963619[0m ×2 + 16.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034099964592 + 16.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034099964592[0m ×2 + 16.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006824943630 + 16.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006824943630[0m ×2 + 16.45sWARNcontroller_managerOverrun might occur, Total time : 1725.492 us (Expected < 1666.667 us) --> Read time : 91.604 us, Update time : 1386.946 us, Write time : 246.942 us + 16.45sWARNros2_control_nodeOverrun might occur, Total time : 1725.492 us (Expected < 1666.667 us) --> Read time : 91.604 us, Update time : 1386.946 us, Write time : 246.942 us[0m ×2 + 16.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032724192881 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032724192881[0m ×2 + 16.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011398104240 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011398104240[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010726063429 + 16.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010726063429[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014685536008 + 16.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014685536008[0m ×2 + 16.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006916958088 + 16.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006916958088[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018932039402 + 16.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018932039402[0m ×2 + 16.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024438534331 + 16.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024438534331[0m ×2 + 16.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002284999998 + 16.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002284999998[0m ×2 + 16.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022837839764 + 16.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022837839764[0m ×2 + 16.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006790992726 + 16.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006790992726[0m ×2 + 16.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013771226045 + 16.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013771226045[0m ×2 + 16.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013521026603 + 16.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013521026603[0m ×2 + 16.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007729734877 + 16.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007729734877[0m ×2 + 16.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017416125852 + 16.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017416125852[0m ×2 + 16.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003921897762 + 16.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003921897762[0m ×2 + 16.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019273296139 + 16.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019273296139[0m ×2 + 16.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001699167530 + 16.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001699167530[0m ×2 + 16.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019731766925 + 16.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019731766925[0m ×2 + 16.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000551062507 + 16.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000551062507[0m ×2 + 16.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019283295427 + 16.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019283295427[0m ×2 + 16.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000141582280986 + 16.59sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000141582280986[0m ×2 + 16.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018290294561 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018290294561[0m ×2 + 16.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002436389981 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002436389981[0m ×2 + 16.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015331437581 + 16.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015331437581[0m ×2 + 16.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006144208870 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006144208870[0m ×2 + 16.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021124429709 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021124429709[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008878528395 + 16.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008878528395[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009967192170 + 16.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009967192170[0m ×2 + 16.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002270470177 + 16.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002270470177[0m ×2 + 16.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018054331909 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018054331909[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005477177269 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005477177269[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008598262169 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008598262169[0m ×2 + 16.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008863000643 + 16.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008863000643[0m ×2 + 16.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007638363916 + 16.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007638363916[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017183167902 + 16.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017183167902[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017626416806 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017626416806[0m ×2 + 16.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002621580267 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002621580267[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012489819380 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012489819380[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014924383442 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014924383442[0m ×2 + 16.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003530256041 + 16.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003530256041[0m ×2 + 16.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009962423699 + 16.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009962423699[0m ×2 + 16.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005175268491 + 16.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005175268491[0m ×2 + 16.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010163275385 + 16.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010163275385[0m ×2 + 16.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011285494626 + 16.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011285494626[0m ×2 + 16.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020820932542 + 16.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020820932542[0m ×2 + 16.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007129518382 + 16.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007129518382[0m ×2 + 16.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015859905763 + 16.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015859905763[0m ×2 + 16.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001836960437 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001836960437[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021063061670 + 16.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021063061670[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000388049035 + 16.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000388049035[0m ×2 + 16.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010485827736 + 16.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010485827736[0m ×2 + 16.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007748465038 + 16.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007748465038[0m ×2 + 16.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017733990560 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017733990560[0m ×2 + 16.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003407971044 + 16.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003407971044[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014102986566 + 16.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014102986566[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006093534354 + 16.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006093534354[0m ×2 + 16.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008270037971 + 16.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008270037971[0m ×2 + 16.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010308787867 + 16.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010308787867[0m ×2 + 16.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004424607400 + 16.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004424607400[0m ×2 + 16.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012680211559 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012680211559[0m ×2 + 16.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001609929038 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001609929038[0m ×2 + 16.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005441309858 + 16.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005441309858[0m ×2 + 16.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014269895734 + 16.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014269895734[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011267841335 + 16.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011267841335[0m ×2 + 16.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000499633368 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000499633368[0m ×2 + 16.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008044734750 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008044734750[0m ×2 + 16.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006418870209 + 16.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006418870209[0m ×2 + 16.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011855305738 + 16.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011855305738[0m ×2 + 16.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003392018502 + 16.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003392018502[0m ×2 + 16.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012530718698 + 16.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012530718698[0m ×2 + 16.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004632588035 + 16.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004632588035[0m ×2 + 16.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011918925797 + 16.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011918925797[0m ×2 + 16.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000783583139 + 16.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000783583139[0m ×2 + 16.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009228754187 + 16.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009228754187[0m ×2 + 16.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005342027513 + 16.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005342027513[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004524389080 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004524389080[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008919677193 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008919677193[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001399967282 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001399967282[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011013285533 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011013285533[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000556518005 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000556518005[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012729281500 + 17.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012729281500[0m ×2 + 17.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006788743850 + 17.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006788743850[0m ×2 + 17.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011918210859 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011918210859[0m ×2 + 17.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000729319871 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000729319871[0m ×2 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012871526006 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012871526006[0m ×2 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007050301308 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007050301308[0m ×2 + 17.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000726379967 + 17.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000726379967[0m ×2 + 17.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006086781200 + 17.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006086781200[0m ×2 + 17.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005152422689 + 17.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005152422689[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009892837107 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009892837107[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003161629016 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003161629016[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007077488574 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007077488574[0m ×2 + 17.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002519156512 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002519156512[0m ×2 + 17.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004111040379 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004111040379[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006093435405 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006093435405[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002022661406 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002022661406[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004133184723 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004133184723[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002609196927 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002609196927[0m ×2 + 17.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004361110460 + 17.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004361110460[0m ×2 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004492743899 + 17.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004492743899[0m ×2 + 17.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004524379996 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004524379996[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004793768076 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004793768076[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005616670074 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005616670074[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001314384270 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001314384270[0m ×2 + 17.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007161129550 + 17.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007161129550[0m ×2 + 17.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002719382712 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002719382712[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009138740000 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009138740000[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006255891100 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006255891100[0m ×2 + 17.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001853286005 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001853286005[0m ×2 + 17.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003424545294 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003424545294[0m ×2 + 17.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005157139324 + 17.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005157139324[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006504280133 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006504280133[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001373300765 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001373300765[0m ×2 + 17.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004595546711 + 17.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004595546711[0m ×2 + 17.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002435168616 + 17.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002435168616[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002554769086 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002554769086[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004884419179 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004884419179[0m ×2 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812153 ms (missed cycles : 2). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812153 ms (missed cycles : 2).[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001141948152 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001141948152[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003280957371 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003280957371[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003085729883 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003085729883[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002672592119 + 17.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002672592119[0m ×2 + 17.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001423454892 + 17.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001423454892[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003887476879 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003887476879[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002451849608 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002451849608[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002697462523 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002697462523[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003712118067 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003712118067[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001842510227 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001842510227[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001947218021 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001947218021[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002432276647 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002432276647[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001943864111 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001943864111[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003905004221 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003905004221[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000535290212 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000535290212[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004632438208 + 17.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004632438208[0m ×2 + 17.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000026248742038 + 17.37sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000026248742038[0m ×2 + 17.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005042812435 + 17.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005042812435[0m ×2 + 17.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000299180445 + 17.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000299180445[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005219510992 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005219510992[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001957762426 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001957762426[0m ×2 + 17.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003242707828 + 17.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003242707828[0m ×2 + 17.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003411821911 + 17.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003411821911[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000544042844 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000544042844[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004162599967 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004162599967[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001334541393 + 17.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001334541393[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004678718898 + 17.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004678718898[0m ×2 + 17.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002316034485 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002316034485[0m ×2 + 17.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001252912624 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001252912624[0m ×2 + 17.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002748946959 + 17.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002748946959[0m ×2 + 17.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001357462927 + 17.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001357462927[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004449742840 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004449742840[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003946567949 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003946567949[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000391034056 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000391034056[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002893060910 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002893060910[0m ×2 + 17.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001935450669 + 17.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001935450669[0m ×2 + 17.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005251721804 + 17.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005251721804[0m ×2 + 17.51sWARNcontroller_managerOverrun might occur, Total time : 4757.596 us (Expected < 1666.667 us) --> Read time : 309.105 us, Update time : 3815.931 us, Write time : 632.560 us + 17.51sWARNros2_control_nodeOverrun might occur, Total time : 4757.596 us (Expected < 1666.667 us) --> Read time : 309.105 us, Update time : 3815.931 us, Write time : 632.560 us[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002295259408 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002295259408[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003948256126 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003948256126[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001593858908 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001593858908[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003263193220 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003263193220[0m ×2 + 17.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000306155802 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000306155802[0m ×2 + 17.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004119956224 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004119956224[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000719460966 + 17.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000719460966[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001781684611 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001781684611[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001585059457 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001585059457[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001418813786 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001418813786[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001115176614 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001115176614[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001679939092 + 17.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001679939092[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000776278466 + 17.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000776278466[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001818602244 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001818602244[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002544033904 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002544033904[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003292307004 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003292307004[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000297022531 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000297022531[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003189977766 + 17.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003189977766[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002071990200 + 17.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002071990200[0m ×2 + 17.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000021824544019 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000021824544019[0m ×2 + 17.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001894797760 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001894797760[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000906991883 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000906991883[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003148728369 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003148728369[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001353009138 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001353009138[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002977763662 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002977763662[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000253520188 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000253520188[0m ×2 + 17.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001835289593 + 17.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001835289593[0m ×2 + 17.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001138428592 + 17.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001138428592[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002224939465 + 17.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002224939465[0m ×2 + 17.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001519193519 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001519193519[0m ×2 + 17.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000804426152 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000804426152[0m ×2 + 17.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000871398796 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000871398796[0m ×2 + 17.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001734799449 + 17.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001734799449[0m ×2 + 17.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001869080406 + 17.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001869080406[0m ×2 + 17.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000301148882 + 17.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000301148882[0m ×2 + 17.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002250816726 + 17.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002250816726[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000712102888 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000712102888[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002515250363 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002515250363[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000014639911800 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000014639911800[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001196675357 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001196675357[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000519373699 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000519373699[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000915217627 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000915217627[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001470832640 + 17.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001470832640[0m ×2 + 17.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001728986371 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001728986371[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000683301686 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000683301686[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001038438512 + 17.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001038438512[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001153890651 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001153890651[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001034425910 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001034425910[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000753773925 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000753773925[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001288734103 + 17.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001288734103[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000475474066 + 17.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000475474066[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001427895946 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001427895946[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000291372408 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000291372408[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001481410034 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001481410034[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000176786438 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000176786438[0m ×2 + 17.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001474475480 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001474475480[0m ×2 + 17.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000251800185 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000251800185[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001265493236 + 17.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001265493236[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000616595784 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000616595784[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000790809898 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000790809898[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000989806564 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000989806564[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000325089393 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000325089393[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001319848580 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001319848580[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000009544831116 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000009544831116[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001498482449 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001498482449[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000160761635 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000160761635[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001570389639 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001570389639[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000261083605 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000261083605[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001570759627 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001570759627[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000306073735 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000306073735[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001469130848 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001469130848[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000006451714012 + 18.00sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000006451714012[0m ×2 + 18.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001282958245 + 18.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001282958245[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000321695723 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000321695723[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000759361680 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000759361680[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001027362504 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001027362504[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000183606172 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000183606172[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001132569138 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001132569138[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000005576778310 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000005576778310[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000987933998 + 18.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000987933998[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000324866599 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000324866599[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000519215351 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000519215351[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000686173559 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000686173559[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000556718507 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000556718507[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000811296543 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000811296543[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000238757727 + 18.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000238757727[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001025770649 + 18.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001025770649[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000005264267478 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000005264267478[0m ×2 + 18.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000961266101 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000961266101[0m ×2 + 18.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000236927337 + 18.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000236927337[0m ×2 + 18.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001304240906 + 18.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001304240906[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001023198486 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001023198486[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000431794005 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000431794005[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000367645585 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000367645585[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000724199268 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000724199268[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000181152212 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000181152212[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000920899980 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000920899980[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000006701386307 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000006701386307[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001041566018 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001041566018[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000006887931042 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000006887931042[0m ×2 + 18.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001104337779 + 18.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001104337779[0m ×2 + 18.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000805424158 + 18.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000805424158[0m ×2 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000254248103 + 18.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000254248103[0m ×2 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000426218154 + 18.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000426218154[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000683251934 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000683251934[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000822238888 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000822238888[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000159265109 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000159265109[0m ×2 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000577653075 + 18.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000577653075[0m ×2 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000328307990 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000328307990[0m ×2 + 18.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000317664233 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000317664233[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000644433752 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000644433752[0m ×2 + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996827 ms (missed cycles : 2). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996827 ms (missed cycles : 2).[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000418131095 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000418131095[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000417810419 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000417810419[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000572475881 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000572475881[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000259196459 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000259196459[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000662198539 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000662198539[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000153153710 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000153153710[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000703641573 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000703641573[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000005626738883 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000005626738883[0m ×2 + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000710680166 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000710680166[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000416723050 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000416723050[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000339220181 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000339220181[0m ×2 + 18.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000636578892 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000636578892[0m ×2 + 18.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000714866005 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000714866005[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000122644517 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000122644517[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000501268525 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000501268525[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000286803401 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000286803401[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000779944174 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000779944174[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000119814634 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000119814634[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000546917865 + 18.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000546917865[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000575152057 + 18.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000575152057[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000130140973 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000130140973[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000784061699 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000784061699[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000305284479 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000305284479[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001056728635 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001056728635[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000345347603 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000345347603[0m ×2 + 18.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000191901283 + 18.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000191901283[0m ×2 + 18.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000309079608 + 18.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000309079608[0m ×2 + 18.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000464188755 + 18.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000464188755[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000607384989 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000607384989[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000171475224 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000171475224[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000237266452 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000237266452[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000374820257 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000374820257[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000288988699 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000288988699[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000237540534 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000237540534[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000380076864 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000380076864[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000142749868 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000142749868[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000431161525 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000431161525[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003772512116 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003772512116[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000452779200 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000452779200[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003757802999 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003757802999[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000453711722 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000453711722[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000259298270 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000259298270[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000141129708 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000141129708[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000450437778 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000450437778[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002478039010 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002478039010[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000287275535 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000287275535[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000413757572 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000413757572[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003232738268 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003232738268[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000144477267 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000144477267[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000423021450 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000423021450[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000129007486 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000129007486[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002646138673 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002646138673[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000245220194 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000245220194[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000203346953 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000203346953[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000154989060 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000154989060[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002812106111 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002812106111[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000293196992 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000293196992[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000285201125 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000285201125[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002334994228 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002334994228[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000331230205 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000331230205[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000165770351 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000165770351[0m ×2 + 18.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002106669415 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002106669415[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000189103404 + 18.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000189103404[0m ×2 + 18.70sWARNcontroller_managerOverrun might occur, Total time : 1714.031 us (Expected < 1666.667 us) --> Read time : 757.136 us, Update time : 126.086 us, Write time : 830.809 us + 18.70sWARNros2_control_nodeOverrun might occur, Total time : 1714.031 us (Expected < 1666.667 us) --> Read time : 757.136 us, Update time : 126.086 us, Write time : 830.809 us[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000145539204 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000145539204[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000176327820 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000176327820[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001426136260 + 18.72sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001426136260[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000171167702 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000171167702[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000136229828 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000136229828[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001415016791 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001415016791[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000364054065 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000364054065[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000140904070 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000140904070[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001656115476 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001656115476[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000214346073 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000214346073[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001963950900 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001963950900[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000186001463 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000186001463[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000148248715 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000148248715[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002007311595 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002007311595[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001747568059 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001747568059[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000210132699 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000210132699[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001755814372 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001755814372[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000120360722 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000120360722[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000177136845 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000177136845[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001740037632 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001740037632[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000133263550 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000133263550[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000173186096 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000173186096[0m ×2 + 18.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002163728933 + 18.83sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002163728933[0m ×2 + 18.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001779450031 + 18.83sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001779450031[0m ×2 + 18.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002451305594 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002451305594[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001953585137 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001953585137[0m ×2 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000130602000 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000130602000[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000188057268 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000188057268[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001327970820 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001327970820[0m ×2 + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001177133560 + 18.89sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001177133560[0m ×2 + 18.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000132730504 + 18.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000132730504[0m ×2 + 18.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000743216592 + 18.93sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000743216592[0m ×2 + 18.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000130911381 + 18.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000130911381[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000966129677 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000966129677[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000767720347 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000767720347[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000829092565 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000829092565[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001253683383 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001253683383[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001259230647 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001259230647[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001059404104 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001059404104[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001606990620 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001606990620[0m ×2 + 18.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001291988782 + 18.98sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001291988782[0m ×2 + 18.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001410327511 + 18.98sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001410327511[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000137719873 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000137719873[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001464664051 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001464664051[0m ×2 + 19.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001189964720 + 19.00sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001189964720[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001616721871 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001616721871[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000144348107 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000144348107[0m ×2 + 19.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000773512211 + 19.04sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000773512211[0m ×2 + 19.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000640053906 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000640053906[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001056183784 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001056183784[0m ×2 + 19.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000142968980 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000142968980[0m ×2 + 19.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001047468777 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001047468777[0m ×2 + 19.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000835637295 + 19.07sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000835637295[0m ×2 + 19.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000848454560 + 19.07sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000848454560[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000686967799 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000686967799[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000744169742 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000744169742[0m ×2 + 19.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001037026280 + 19.09sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001037026280[0m ×2 + 19.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001043293602 + 19.09sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001043293602[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000830525925 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000830525925[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000834409843 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000834409843[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000665767446 + 19.12sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000665767446[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000423489573 + 19.12sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000423489573[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000431359805 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000431359805[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000371586165 + 19.14sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000371586165[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000752958298 + 19.14sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000752958298[0m ×2 + 19.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000766543503 + 19.15sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000766543503[0m ×2 + 19.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000770433455 + 19.15sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000770433455[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000612148381 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000612148381[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000613679537 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000613679537[0m ×2 + 19.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000486706582 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000486706582[0m ×2 + 19.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000487560946 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000487560946[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000387014994 + 19.19sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000387014994[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000243053638 + 19.19sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000243053638[0m ×2 + 19.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000243053652 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000243053652[0m ×2 + 19.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000193172506 ×2 + 19.21sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000193172506[0m ×4 + 19.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000153314320 + 19.22sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000153314320[0m ×2 + 19.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000121708863 + 19.23sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000121708863[0m ×2 + 19.24sINFOjoint_trajectory_controllerAccepted new action goal ×699 + 19.24sINFOros2_control_nodeAccepted new action goal[0m ×1398 + 19.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248067 ms (missed cycles : 2). + 19.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248067 ms (missed cycles : 2).[0m ×2 + 20.06sWARNcontroller_managerOverrun might occur, Total time : 5614.266 us (Expected < 1666.667 us) --> Read time : 211.160 us, Update time : 4929.743 us, Write time : 473.363 us + 20.07sWARNros2_control_nodeOverrun might occur, Total time : 5614.266 us (Expected < 1666.667 us) --> Read time : 211.160 us, Update time : 4929.743 us, Write time : 473.363 us[0m ×2 + 20.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.533726 ms (missed cycles : 6). + 20.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.533726 ms (missed cycles : 6).[0m ×2 + 21.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779901 ms (missed cycles : 2). + 21.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779901 ms (missed cycles : 2).[0m ×2 + 21.82sWARNcontroller_managerOverrun might occur, Total time : 1688.110 us (Expected < 1666.667 us) --> Read time : 161.928 us, Update time : 1211.947 us, Write time : 314.235 us + 21.82sWARNros2_control_nodeOverrun might occur, Total time : 1688.110 us (Expected < 1666.667 us) --> Read time : 161.928 us, Update time : 1211.947 us, Write time : 314.235 us[0m ×2 + 22.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.943018 ms (missed cycles : 7). + 22.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.943018 ms (missed cycles : 7).[0m ×2 + 23.20sWARNcontroller_managerOverrun might occur, Total time : 9311.662 us (Expected < 1666.667 us) --> Read time : 191.289 us, Update time : 8694.253 us, Write time : 426.120 us + 23.20sWARNros2_control_nodeOverrun might occur, Total time : 9311.662 us (Expected < 1666.667 us) --> Read time : 191.289 us, Update time : 8694.253 us, Write time : 426.120 us[0m ×2 + 23.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930227 ms (missed cycles : 3). + 23.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930227 ms (missed cycles : 3).[0m ×2 + 24.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780499177.02060103 seconds ×3 + 24.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438441 ms (missed cycles : 3). + 24.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438441 ms (missed cycles : 3).[0m ×2 + 24.43sWARNcontroller_managerOverrun might occur, Total time : 1853.078 us (Expected < 1666.667 us) --> Read time : 203.600 us, Update time : 1298.412 us, Write time : 351.066 us + 24.43sWARNros2_control_nodeOverrun might occur, Total time : 1853.078 us (Expected < 1666.667 us) --> Read time : 203.600 us, Update time : 1298.412 us, Write time : 351.066 us[0m ×2 + 24.46sINFOjoint_trajectory_controllerGoal reached, success! + 24.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 24.61sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780499177.59984994 seconds. ×3 + 24.76sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 24.77sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 24.78sINFOros2_control_node[2026-06-03 15:06:17.764] [info] Received new action goal ×2 + 24.78sINFOros2_control_node[2026-06-03 15:06:17.764] [info] Accepted new action goal ×2 + 25.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view" + 25.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 25.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989887 ms (missed cycles : 2). + 25.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989887 ms (missed cycles : 2).[0m ×2 + 25.57sWARNcontroller_managerOverrun might occur, Total time : 5421.227 us (Expected < 1666.667 us) --> Read time : 105.995 us, Update time : 4794.597 us, Write time : 520.635 us + 25.57sWARNros2_control_nodeOverrun might occur, Total time : 5421.227 us (Expected < 1666.667 us) --> Read time : 105.995 us, Update time : 4794.597 us, Write time : 520.635 us[0m ×2 + 26.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518506 ms (missed cycles : 4). + 26.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518506 ms (missed cycles : 4).[0m ×2 + 27.01sWARNcontroller_managerOverrun might occur, Total time : 1809.476 us (Expected < 1666.667 us) --> Read time : 163.018 us, Update time : 1266.650 us, Write time : 379.808 us + 27.01sWARNros2_control_nodeOverrun might occur, Total time : 1809.476 us (Expected < 1666.667 us) --> Read time : 163.018 us, Update time : 1266.650 us, Write time : 379.808 us[0m ×2 + 27.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826894 ms (missed cycles : 3). + 27.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826894 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	12.3s	3 errors · 99 warnings · 2819 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×449 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×449 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×898 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×898 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779901 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779901 ms (missed cycles : 2).[0m ×2 + 0.86sWARNcontroller_managerOverrun might occur, Total time : 1688.110 us (Expected < 1666.667 us) --> Read time : 161.928 us, Update time : 1211.947 us, Write time : 314.235 us + 0.86sWARNros2_control_nodeOverrun might occur, Total time : 1688.110 us (Expected < 1666.667 us) --> Read time : 161.928 us, Update time : 1211.947 us, Write time : 314.235 us[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.943018 ms (missed cycles : 7). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.943018 ms (missed cycles : 7).[0m ×2 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 9311.662 us (Expected < 1666.667 us) --> Read time : 191.289 us, Update time : 8694.253 us, Write time : 426.120 us + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 9311.662 us (Expected < 1666.667 us) --> Read time : 191.289 us, Update time : 8694.253 us, Write time : 426.120 us[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930227 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930227 ms (missed cycles : 3).[0m ×2 + 3.07sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780499177.02060103 seconds ×3 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438441 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438441 ms (missed cycles : 3).[0m ×2 + 3.46sWARNcontroller_managerOverrun might occur, Total time : 1853.078 us (Expected < 1666.667 us) --> Read time : 203.600 us, Update time : 1298.412 us, Write time : 351.066 us + 3.47sWARNros2_control_nodeOverrun might occur, Total time : 1853.078 us (Expected < 1666.667 us) --> Read time : 203.600 us, Update time : 1298.412 us, Write time : 351.066 us[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.65sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780499177.59984994 seconds. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.72sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 3.81sINFOros2_control_node[2026-06-03 15:06:17.764] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-06-03 15:06:17.764] [info] Accepted new action goal ×2 + 4.08sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view" + 4.09sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989887 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989887 ms (missed cycles : 2).[0m ×2 + 4.60sWARNcontroller_managerOverrun might occur, Total time : 5421.227 us (Expected < 1666.667 us) --> Read time : 105.995 us, Update time : 4794.597 us, Write time : 520.635 us + 4.61sWARNros2_control_nodeOverrun might occur, Total time : 5421.227 us (Expected < 1666.667 us) --> Read time : 105.995 us, Update time : 4794.597 us, Write time : 520.635 us[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518506 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518506 ms (missed cycles : 4).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1809.476 us (Expected < 1666.667 us) --> Read time : 163.018 us, Update time : 1266.650 us, Write time : 379.808 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1809.476 us (Expected < 1666.667 us) --> Read time : 163.018 us, Update time : 1266.650 us, Write time : 379.808 us[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826894 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826894 ms (missed cycles : 3).[0m ×2 + 7.24sWARNcontroller_managerOverrun might occur, Total time : 4639.659 us (Expected < 1666.667 us) --> Read time : 4156.617 us, Update time : 77.873 us, Write time : 405.169 us + 7.24sWARNros2_control_nodeOverrun might occur, Total time : 4639.659 us (Expected < 1666.667 us) --> Read time : 4156.617 us, Update time : 77.873 us, Write time : 405.169 us[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913208 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913208 ms (missed cycles : 3).[0m ×2 + 8.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 8.33sINFOros2_control_node[2026-06-03 15:06:22.279] [info] Received new action goal ×2 + 8.33sINFOros2_control_node[2026-06-03 15:06:22.279] [info] Accepted new action goal ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769323 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769323 ms (missed cycles : 2).[0m ×2 + 8.81sWARNcontroller_managerOverrun might occur, Total time : 3875.414 us (Expected < 1666.667 us) --> Read time : 92.184 us, Update time : 3434.693 us, Write time : 348.537 us + 8.81sWARNros2_control_nodeOverrun might occur, Total time : 3875.414 us (Expected < 1666.667 us) --> Read time : 92.184 us, Update time : 3434.693 us, Write time : 348.537 us[0m ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.938276 ms (missed cycles : 5). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.938276 ms (missed cycles : 5).[0m ×2 + 10.25sINFOros2_control_node[2026-06-03 15:06:24.205] [info] Received new action goal ×2 + 10.25sINFOros2_control_node[2026-06-03 15:06:24.205] [info] Accepted new action goal ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153911 ms (missed cycles : 2). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153911 ms (missed cycles : 2).[0m ×2 + 10.93sWARNcontroller_managerOverrun might occur, Total time : 1833.007 us (Expected < 1666.667 us) --> Read time : 183.469 us, Update time : 1295.661 us, Write time : 353.877 us + 10.94sWARNros2_control_nodeOverrun might occur, Total time : 1833.007 us (Expected < 1666.667 us) --> Read time : 183.469 us, Update time : 1295.661 us, Write time : 353.877 us[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171638 ms (missed cycles : 2). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171638 ms (missed cycles : 2).[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193803 ms (missed cycles : 2). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193803 ms (missed cycles : 2).[0m ×2 + 12.84sWARNcontroller_managerOverrun might occur, Total time : 5404.227 us (Expected < 1666.667 us) --> Read time : 159.868 us, Update time : 4661.881 us, Write time : 582.478 us + 12.84sWARNros2_control_nodeOverrun might occur, Total time : 5404.227 us (Expected < 1666.667 us) --> Read time : 159.868 us, Update time : 4661.881 us, Write time : 582.478 us[0m ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896445 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896445 ms (missed cycles : 2).[0m ×2 + 14.17sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 14.17sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m ×2 + 14.30sINFOobjective_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 + 14.32sWARNcontroller_managerOverrun might occur, Total time : 3259.914 us (Expected < 1666.667 us) --> Read time : 297.364 us, Update time : 70.193 us, Write time : 2892.357 us + 14.33sWARNros2_control_nodeOverrun might occur, Total time : 3259.914 us (Expected < 1666.667 us) --> Read time : 297.364 us, Update time : 70.193 us, Write time : 2892.357 us[0m ×2 + 14.36sINFOobjective_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 + 14.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 14.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 14.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 14.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 14.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 14.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 14.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 14.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 14.67sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 14.67sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708972 ms (missed cycles : 2). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708972 ms (missed cycles : 2).[0m ×2 + 15.35sWARNcontroller_managerOverrun might occur, Total time : 7749.997 us (Expected < 1666.667 us) --> Read time : 163.858 us, Update time : 7166.949 us, Write time : 419.190 us + 15.36sWARNros2_control_nodeOverrun might occur, Total time : 7749.997 us (Expected < 1666.667 us) --> Read time : 163.858 us, Update time : 7166.949 us, Write time : 419.190 us[0m ×2 + 15.37sERRORobjective_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 + 15.37sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780499189.32651019 seconds ×3 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403555 ms (missed cycles : 2). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403555 ms (missed cycles : 2).[0m ×2 + 16.00sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780499189.94893551 seconds. ×3 + 16.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 16.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 16.22sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 16.22sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 16.84sWARNcontroller_managerOverrun might occur, Total time : 1720.531 us (Expected < 1666.667 us) --> Read time : 140.306 us, Update time : 223.961 us, Write time : 1356.264 us + 16.84sWARNros2_control_nodeOverrun might occur, Total time : 1720.531 us (Expected < 1666.667 us) --> Read time : 140.306 us, Update time : 223.961 us, Write time : 1356.264 us[0m ×2 + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829637 ms (missed cycles : 2). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829637 ms (missed cycles : 2).[0m ×2 + 17.15sINFOobjective_server_nodeFound path in 7 iterations (0.00466784 s). ×2 + 17.20sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] ×2 + 17.21sINFOros2_control_node[2026-06-03 15:06:31.163] [info] Received new action goal ×2 + 17.21sINFOros2_control_node[2026-06-03 15:06:31.164] [info] Accepted new action goal ×2 + 17.86sWARNcontroller_managerOverrun might occur, Total time : 1700.801 us (Expected < 1666.667 us) --> Read time : 186.899 us, Update time : 1207.987 us, Write time : 305.915 us + 17.86sWARNros2_control_nodeOverrun might occur, Total time : 1700.801 us (Expected < 1666.667 us) --> Read time : 186.899 us, Update time : 1207.987 us, Write time : 305.915 us[0m ×2 + 18.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552909 ms (missed cycles : 3). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552909 ms (missed cycles : 3).[0m ×2 + 19.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003256 ms (missed cycles : 2). + 19.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003256 ms (missed cycles : 2).[0m ×2 + 19.15sWARNcontroller_managerOverrun might occur, Total time : 10700.547 us (Expected < 1666.667 us) --> Read time : 101.694 us, Update time : 10108.360 us, Write time : 490.493 us + 19.15sWARNros2_control_nodeOverrun might occur, Total time : 10700.547 us (Expected < 1666.667 us) --> Read time : 101.694 us, Update time : 10108.360 us, Write time : 490.493 us[0m ×2
✓ passed	Load and Execute Joint Trajectory	load_and_execute_joint_trajectory.xml	11.8s	3 errors · 99 warnings · 127 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1713.331 us (Expected < 1666.667 us) --> Read time : 153.367 us, Update time : 129.186 us, Write time : 1430.778 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1713.331 us (Expected < 1666.667 us) --> Read time : 153.367 us, Update time : 129.186 us, Write time : 1430.778 us[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405308 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405308 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (1.1e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.88sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.94sINFOobjective_server_nodeFound path in 1 iterations (0.00198892 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] ×2 + 1.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.06sINFOros2_control_node[2026-06-03 15:03:51.845] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-06-03 15:03:51.845] [info] Accepted new action goal ×2 + 1.50sINFOros2_control_node[2026-06-03 15:03:52.287] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-06-03 15:03:52.287] [info] Accepted new action goal ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809436 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809436 ms (missed cycles : 3).[0m ×2 + 1.67sWARNcontroller_managerOverrun might occur, Total time : 4510.024 us (Expected < 1666.667 us) --> Read time : 186.059 us, Update time : 3863.663 us, Write time : 460.302 us + 1.67sWARNros2_control_nodeOverrun might occur, Total time : 4510.024 us (Expected < 1666.667 us) --> Read time : 186.059 us, Update time : 3863.663 us, Write time : 460.302 us[0m ×2 + 2.60sINFOros2_control_node[2026-06-03 15:03:53.391] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-06-03 15:03:53.391] [info] Canceling active goal... ×2 + 2.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780499033.39880228 seconds ×3 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.63sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.099554 ms (missed cycles : 5). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.099554 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780499034.02023745 seconds. ×3 + 3.26sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.26sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.31sWARNcontroller_managerOverrun might occur, Total time : 4316.894 us (Expected < 1666.667 us) --> Read time : 90.504 us, Update time : 3816.220 us, Write time : 410.170 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 4316.894 us (Expected < 1666.667 us) --> Read time : 90.504 us, Update time : 3816.220 us, Write time : 410.170 us[0m ×2 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.42sINFOros2_control_node[2026-06-03 15:03:54.204] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-06-03 15:03:54.204] [info] Accepted new action goal ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421838 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421838 ms (missed cycles : 2).[0m ×2 + 3.76sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.76sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.77sWARNcontroller_managerOverrun might occur, Total time : 4488.923 us (Expected < 1666.667 us) --> Read time : 103.995 us, Update time : 3826.571 us, Write time : 558.357 us + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703647 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun might occur, Total time : 4488.923 us (Expected < 1666.667 us) --> Read time : 103.995 us, Update time : 3826.571 us, Write time : 558.357 us[0m ×2 + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703647 ms (missed cycles : 3).[0m ×2 + 5.82sWARNcontroller_managerOverrun might occur, Total time : 1692.521 us (Expected < 1666.667 us) --> Read time : 170.919 us, Update time : 1243.669 us, Write time : 277.933 us + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872787 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun might occur, Total time : 1692.521 us (Expected < 1666.667 us) --> Read time : 170.919 us, Update time : 1243.669 us, Write time : 277.933 us[0m ×2 + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872787 ms (missed cycles : 2).[0m ×2 + 5.83sINFOros2_control_node[2026-06-03 15:03:56.617] [info] Received new action goal ×2 + 5.83sINFOros2_control_node[2026-06-03 15:03:56.617] [info] Accepted new action goal ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779095 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779095 ms (missed cycles : 2).[0m ×2 + 6.88sWARNcontroller_managerOverrun might occur, Total time : 3789.980 us (Expected < 1666.667 us) --> Read time : 144.867 us, Update time : 3306.927 us, Write time : 338.186 us + 6.88sWARNros2_control_nodeOverrun might occur, Total time : 3789.980 us (Expected < 1666.667 us) --> Read time : 144.867 us, Update time : 3306.927 us, Write time : 338.186 us[0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.400545 ms (missed cycles : 4). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.400545 ms (missed cycles : 4).[0m ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378671 ms (missed cycles : 5). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378671 ms (missed cycles : 5).[0m ×2 + 8.95sWARNcontroller_managerOverrun might occur, Total time : 3579.131 us (Expected < 1666.667 us) --> Read time : 105.796 us, Update time : 3173.131 us, Write time : 300.204 us + 8.95sWARNros2_control_nodeOverrun might occur, Total time : 3579.131 us (Expected < 1666.667 us) --> Read time : 105.796 us, Update time : 3173.131 us, Write time : 300.204 us[0m ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.466555 ms (missed cycles : 4). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.466555 ms (missed cycles : 4).[0m ×2 + 10.11sWARNcontroller_managerOverrun might occur, Total time : 1785.814 us (Expected < 1666.667 us) --> Read time : 215.560 us, Update time : 79.254 us, Write time : 1491.000 us + 10.11sWARNros2_control_nodeOverrun might occur, Total time : 1785.814 us (Expected < 1666.667 us) --> Read time : 215.560 us, Update time : 79.254 us, Write time : 1491.000 us[0m ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.437199 ms (missed cycles : 7). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.437199 ms (missed cycles : 7).[0m ×2 + 11.12sWARNcontroller_managerOverrun might occur, Total time : 5790.484 us (Expected < 1666.667 us) --> Read time : 5340.953 us, Update time : 76.173 us, Write time : 373.358 us + 11.12sWARNros2_control_nodeOverrun might occur, Total time : 5790.484 us (Expected < 1666.667 us) --> Read time : 5340.953 us, Update time : 76.173 us, Write time : 373.358 us[0m ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558646 ms (missed cycles : 4). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558646 ms (missed cycles : 4).[0m ×2 + 12.35sWARNcontroller_managerOverrun might occur, Total time : 5636.517 us (Expected < 1666.667 us) --> Read time : 154.257 us, Update time : 5021.968 us, Write time : 460.292 us + 12.35sWARNros2_control_nodeOverrun might occur, Total time : 5636.517 us (Expected < 1666.667 us) --> Read time : 154.257 us, Update time : 5021.968 us, Write time : 460.292 us[0m ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935268 ms (missed cycles : 3). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935268 ms (missed cycles : 3).[0m ×2 + 13.54sWARNcontroller_managerOverrun might occur, Total time : 1727.222 us (Expected < 1666.667 us) --> Read time : 258.802 us, Update time : 483.743 us, Write time : 984.677 us + 13.54sWARNros2_control_nodeOverrun might occur, Total time : 1727.222 us (Expected < 1666.667 us) --> Read time : 258.802 us, Update time : 483.743 us, Write time : 984.677 us[0m ×2 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102683 ms (missed cycles : 5). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102683 ms (missed cycles : 5).[0m ×2 + 14.40sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780499045.18762875 seconds ×3 + 14.95sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780499045.73946500 seconds. ×3 + 14.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 14.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 14.99sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.99sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.01sWARNcontroller_managerOverrun might occur, Total time : 2837.675 us (Expected < 1666.667 us) --> Read time : 119.636 us, Update time : 2337.181 us (Switch time : 2312.559 us (Switch chained mode time : 0.630 us, perform mode change time : 2.190 us, Activation time : 2304.909 us, Deactivation time : 0.200 us)), Write time : 380.858 us + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986037 ms (missed cycles : 2). + 15.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.01sWARNros2_control_nodeOverrun might occur, Total time : 2837.675 us (Expected < 1666.667 us) --> Read time : 119.636 us, Update time : 2337.181 us (Switch time : 2312.559 us (Switch chained mode time : 0.630 us, perform mode change time : 2.190 us, Activation time : 2304.909 us, Deactivation time : 0.200 us)), Write time : 380.858 us[0m ×2 + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986037 ms (missed cycles : 2).[0m ×2 + 15.01sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780499045.79959917 seconds ×3 + 15.64sWARNcontroller_managerOverrun might occur, Total time : 6137.682 us (Expected < 1666.667 us) --> Read time : 131.727 us, Update time : 5531.113 us, Write time : 474.842 us + 15.64sWARNros2_control_nodeOverrun might occur, Total time : 6137.682 us (Expected < 1666.667 us) --> Read time : 131.727 us, Update time : 5531.113 us, Write time : 474.842 us[0m ×2 + 15.68sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780499046.46917892 seconds. ×3 + 15.79sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 15.79sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.81sINFOros2_control_node[2026-06-03 15:04:06.593] [info] Received new action goal ×2 + 15.81sINFOros2_control_node[2026-06-03 15:04:06.593] [info] Accepted new action goal ×2 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947077 ms (missed cycles : 5). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947077 ms (missed cycles : 5).[0m ×2 + 17.02sWARNcontroller_managerOverrun might occur, Total time : 1917.302 us (Expected < 1666.667 us) --> Read time : 90.645 us, Update time : 1506.821 us, Write time : 319.836 us + 17.02sWARNros2_control_nodeOverrun might occur, Total time : 1917.302 us (Expected < 1666.667 us) --> Read time : 90.645 us, Update time : 1506.821 us, Write time : 319.836 us[0m ×2 + 17.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.326941 ms (missed cycles : 7). + 17.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.326941 ms (missed cycles : 7).[0m ×2 + 17.81sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780499048.59932756 seconds ×3 + 18.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415026 ms (missed cycles : 2). + 18.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415026 ms (missed cycles : 2).[0m ×2 + 18.18sWARNcontroller_managerOverrun might occur, Total time : 2670.076 us (Expected < 1666.667 us) --> Read time : 160.527 us, Update time : 2093.829 us, Write time : 415.720 us + 18.18sWARNros2_control_nodeOverrun might occur, Total time : 2670.076 us (Expected < 1666.667 us) --> Read time : 160.527 us, Update time : 2093.829 us, Write time : 415.720 us[0m ×2 + 18.36sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780499049.14607811 seconds. ×3
✓ passed	Push Button	move_with_velocity_and_force.xml	11.6s	99 warnings · 146 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4355.997 us (Expected < 1666.667 us) --> Read time : 133.207 us, Update time : 3832.952 us, Write time : 389.838 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4355.997 us (Expected < 1666.667 us) --> Read time : 133.207 us, Update time : 3832.952 us, Write time : 389.838 us[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778279 ms (missed cycles : 3). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778279 ms (missed cycles : 3).[0m ×2 + 0.42sINFOobjective_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 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.43sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.43sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.43sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.43sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.36sINFOros2_control_node[2026-06-03 15:04:58.890] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-06-03 15:04:58.890] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870587 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870587 ms (missed cycles : 2).[0m ×2 + 1.49sWARNcontroller_managerOverrun might occur, Total time : 1844.877 us (Expected < 1666.667 us) --> Read time : 143.706 us, Update time : 1383.256 us, Write time : 317.915 us + 1.50sWARNros2_control_nodeOverrun might occur, Total time : 1844.877 us (Expected < 1666.667 us) --> Read time : 143.706 us, Update time : 1383.256 us, Write time : 317.915 us[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462076 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462076 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780499100.04669023 seconds ×3 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.52sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 3266.654 us (Expected < 1666.667 us) --> Read time : 119.555 us, Update time : 2742.380 us, Write time : 404.719 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 3266.654 us (Expected < 1666.667 us) --> Read time : 119.555 us, Update time : 2742.380 us, Write time : 404.719 us[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780499100.75565004 seconds. ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.244339 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.244339 ms (missed cycles : 5).[0m ×2 + 3.63sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.63sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.02sWARNcontroller_managerOverrun might occur, Total time : 1782.984 us (Expected < 1666.667 us) --> Read time : 244.002 us, Update time : 1236.048 us, Write time : 302.934 us + 4.02sWARNros2_control_nodeOverrun might occur, Total time : 1782.984 us (Expected < 1666.667 us) --> Read time : 244.002 us, Update time : 1236.048 us, Write time : 302.934 us[0m ×2 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.46sINFOros2_control_node[2026-06-03 15:05:01.990] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-06-03 15:05:01.990] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463950 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463950 ms (missed cycles : 3).[0m ×2 + 5.42sWARNcontroller_managerOverrun might occur, Total time : 2253.397 us (Expected < 1666.667 us) --> Read time : 97.465 us, Update time : 1925.441 us, Write time : 230.491 us + 5.43sWARNros2_control_nodeOverrun might occur, Total time : 2253.397 us (Expected < 1666.667 us) --> Read time : 97.465 us, Update time : 1925.441 us, Write time : 230.491 us[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475294 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475294 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486057 ms (missed cycles : 6). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486057 ms (missed cycles : 6).[0m ×2 + 6.70sWARNcontroller_managerOverrun might occur, Total time : 2666.077 us (Expected < 1666.667 us) --> Read time : 150.907 us, Update time : 2101.700 us, Write time : 413.470 us + 6.70sWARNros2_control_nodeOverrun might occur, Total time : 2666.077 us (Expected < 1666.667 us) --> Read time : 150.907 us, Update time : 2101.700 us, Write time : 413.470 us[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720118 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720118 ms (missed cycles : 2).[0m ×2 + 8.15sINFOobjective_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 + 8.15sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.15sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.15sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.16sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.17sWARNcontroller_managerOverrun might occur, Total time : 4371.107 us (Expected < 1666.667 us) --> Read time : 135.196 us, Update time : 3800.480 us, Write time : 435.431 us + 8.17sWARNros2_control_nodeOverrun might occur, Total time : 4371.107 us (Expected < 1666.667 us) --> Read time : 135.196 us, Update time : 3800.480 us, Write time : 435.431 us[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027940 ms (missed cycles : 2). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027940 ms (missed cycles : 2).[0m ×2 + 9.18sWARNcontroller_managerOverrun might occur, Total time : 2934.899 us (Expected < 1666.667 us) --> Read time : 121.775 us, Update time : 2459.637 us, Write time : 353.487 us + 9.18sWARNros2_control_nodeOverrun might occur, Total time : 2934.899 us (Expected < 1666.667 us) --> Read time : 121.775 us, Update time : 2459.637 us, Write time : 353.487 us[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639616 ms (missed cycles : 4). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639616 ms (missed cycles : 4).[0m ×2 + 10.47sWARNcontroller_managerOverrun might occur, Total time : 1751.743 us (Expected < 1666.667 us) --> Read time : 1448.099 us, Update time : 44.082 us, Write time : 259.562 us + 10.47sWARNros2_control_nodeOverrun might occur, Total time : 1751.743 us (Expected < 1666.667 us) --> Read time : 1448.099 us, Update time : 44.082 us, Write time : 259.562 us[0m ×2 + 10.54sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 10.55sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.56sINFOros2_control_node[2026-06-03 15:05:08.090] [info] Received new action goal ×2 + 10.56sINFOros2_control_node[2026-06-03 15:05:08.090] [info] Accepted new action goal ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.882968 ms (missed cycles : 6). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.882968 ms (missed cycles : 6).[0m ×2 + 11.52sWARNcontroller_managerOverrun might occur, Total time : 1742.013 us (Expected < 1666.667 us) --> Read time : 139.897 us, Update time : 1261.610 us, Write time : 340.506 us + 11.53sWARNros2_control_nodeOverrun might occur, Total time : 1742.013 us (Expected < 1666.667 us) --> Read time : 139.897 us, Update time : 1261.610 us, Write time : 340.506 us[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585203 ms (missed cycles : 4). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585203 ms (missed cycles : 4).[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776014 ms (missed cycles : 3). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776014 ms (missed cycles : 3).[0m ×2 + 12.92sWARNcontroller_managerOverrun might occur, Total time : 6129.002 us (Expected < 1666.667 us) --> Read time : 145.967 us, Update time : 5401.587 us, Write time : 581.448 us + 12.92sWARNros2_control_nodeOverrun might occur, Total time : 6129.002 us (Expected < 1666.667 us) --> Read time : 145.967 us, Update time : 5401.587 us, Write time : 581.448 us[0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109684 ms (missed cycles : 2). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109684 ms (missed cycles : 2).[0m ×2 + 14.11sWARNcontroller_managerOverrun might occur, Total time : 6083.088 us (Expected < 1666.667 us) --> Read time : 145.897 us, Update time : 5466.189 us, Write time : 471.002 us + 14.11sWARNros2_control_nodeOverrun might occur, Total time : 6083.088 us (Expected < 1666.667 us) --> Read time : 145.897 us, Update time : 5466.189 us, Write time : 471.002 us[0m ×2 + 14.16sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780499111.69579554 seconds ×3 + 14.72sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event" + 14.72sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event"[0m ×2 + 14.73sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780499112.25982141 seconds. ×3 + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551042 ms (missed cycles : 3). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551042 ms (missed cycles : 3).[0m ×2 + 14.88sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 14.88sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 14.89sINFOros2_control_node[2026-06-03 15:05:12.423] [info] Received new action goal ×2 + 14.89sINFOros2_control_node[2026-06-03 15:05:12.423] [info] Accepted new action goal ×2 + 15.67sWARNcontroller_managerOverrun might occur, Total time : 6091.960 us (Expected < 1666.667 us) --> Read time : 103.875 us, Update time : 5506.282 us, Write time : 481.803 us + 15.67sWARNros2_control_nodeOverrun might occur, Total time : 6091.960 us (Expected < 1666.667 us) --> Read time : 103.875 us, Update time : 5506.282 us, Write time : 481.803 us[0m ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815847 ms (missed cycles : 3). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815847 ms (missed cycles : 3).[0m ×2 + 16.16sINFOobjective_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 + 16.16sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.657390 ms (missed cycles : 9). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.657390 ms (missed cycles : 9).[0m ×2 + 16.82sWARNcontroller_managerOverrun might occur, Total time : 2035.296 us (Expected < 1666.667 us) --> Read time : 210.860 us, Update time : 1387.826 us, Write time : 436.610 us + 16.82sWARNros2_control_nodeOverrun might occur, Total time : 2035.296 us (Expected < 1666.667 us) --> Read time : 210.860 us, Update time : 1387.826 us, Write time : 436.610 us[0m ×2 + 17.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088784 ms (missed cycles : 4). + 17.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088784 ms (missed cycles : 4).[0m ×2 + 17.97sWARNcontroller_managerOverrun might occur, Total time : 2130.281 us (Expected < 1666.667 us) --> Read time : 725.134 us, Update time : 68.733 us, Write time : 1336.414 us + 17.98sWARNros2_control_nodeOverrun might occur, Total time : 2130.281 us (Expected < 1666.667 us) --> Read time : 725.134 us, Update time : 68.733 us, Write time : 1336.414 us[0m ×2
✓ passed	Pick April Tag Labeled Object With Approval	pick_april_tag_object_with_approval.xml	11.0s	3 errors · 90 warnings · 122 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134950 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134950 ms (missed cycles : 2).[0m ×2 + 0.46sWARNcontroller_managerOverrun might occur, Total time : 4521.304 us (Expected < 1666.667 us) --> Read time : 120.116 us, Update time : 3859.932 us, Write time : 541.256 us + 0.46sWARNros2_control_nodeOverrun might occur, Total time : 4521.304 us (Expected < 1666.667 us) --> Read time : 120.116 us, Update time : 3859.932 us, Write time : 541.256 us[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219879 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219879 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun might occur, Total time : 1856.508 us (Expected < 1666.667 us) --> Read time : 150.337 us, Update time : 1285.471 us, Write time : 420.700 us + 1.61sWARNros2_control_nodeOverrun might occur, Total time : 1856.508 us (Expected < 1666.667 us) --> Read time : 150.337 us, Update time : 1285.471 us, Write time : 420.700 us[0m ×2 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325251 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325251 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780499218.38918114 seconds ×3 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.49sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.81sWARNcontroller_managerOverrun might occur, Total time : 4336.026 us (Expected < 1666.667 us) --> Read time : 101.375 us, Update time : 3892.194 us, Write time : 342.457 us + 2.81sWARNros2_control_nodeOverrun might occur, Total time : 4336.026 us (Expected < 1666.667 us) --> Read time : 101.375 us, Update time : 3892.194 us, Write time : 342.457 us[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.882262 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.882262 ms (missed cycles : 5).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780499219.07032299 seconds. ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.38sINFOros2_control_node[2026-06-03 15:06:59.282] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-06-03 15:06:59.282] [info] Accepted new action goal ×2 + 3.53sINFOfoxglove_bridgeRemoving channel 82 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.53sINFOfoxglove_bridgeRemoving channel 81 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/preview_solution" + 3.53sINFOfoxglove_bridgeRemoving channel 82 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.53sINFOfoxglove_bridgeRemoving channel 81 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.53sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/preview_solution"[0m ×2 + 3.98sWARNcontroller_managerOverrun might occur, Total time : 2534.560 us (Expected < 1666.667 us) --> Read time : 112.795 us, Update time : 2001.605 us, Write time : 420.160 us + 3.98sWARNros2_control_nodeOverrun might occur, Total time : 2534.560 us (Expected < 1666.667 us) --> Read time : 112.795 us, Update time : 2001.605 us, Write time : 420.160 us[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360600 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360600 ms (missed cycles : 3).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253752 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253752 ms (missed cycles : 4).[0m ×2 + 5.55sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/pcd_pointcloud_captures" + 5.55sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/pcd_pointcloud_captures"[0m ×2 + 5.78sWARNcontroller_managerOverrun might occur, Total time : 2286.958 us (Expected < 1666.667 us) --> Read time : 108.065 us, Update time : 1927.171 us, Write time : 251.722 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 2286.958 us (Expected < 1666.667 us) --> Read time : 108.065 us, Update time : 1927.171 us, Write time : 251.722 us[0m ×2 + 6.05sINFOfoxglove_bridgeRemoving channel 84 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.05sINFOfoxglove_bridgeRemoving channel 84 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280013 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280013 ms (missed cycles : 4).[0m ×2 + 6.89sWARNcontroller_managerOverrun might occur, Total time : 2692.458 us (Expected < 1666.667 us) --> Read time : 140.757 us, Update time : 2168.903 us, Write time : 382.798 us + 6.90sWARNros2_control_nodeOverrun might occur, Total time : 2692.458 us (Expected < 1666.667 us) --> Read time : 140.757 us, Update time : 2168.903 us, Write time : 382.798 us[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809643 ms (missed cycles : 3). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809643 ms (missed cycles : 3).[0m ×2 + 7.45sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.45sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.46sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.57sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/solution" + 7.57sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/solution"[0m ×2 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). ×2 + 7.74sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.74sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.78sINFOobjective_server_nodeFound path in 1 iterations (0.00260837 s). ×2 + 7.85sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 7.86sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 7.89sINFOros2_control_node[2026-06-03 15:07:03.798] [info] Received new action goal ×2 + 7.89sINFOros2_control_node[2026-06-03 15:07:03.798] [info] Accepted new action goal ×2 + 8.02sWARNcontroller_managerOverrun might occur, Total time : 2769.460 us (Expected < 1666.667 us) --> Read time : 120.905 us, Update time : 2242.206 us, Write time : 406.349 us + 8.02sWARNros2_control_nodeOverrun might occur, Total time : 2769.460 us (Expected < 1666.667 us) --> Read time : 120.905 us, Update time : 2242.206 us, Write time : 406.349 us[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.474053 ms (missed cycles : 4). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.474053 ms (missed cycles : 4).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.252111 ms (missed cycles : 8). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.252111 ms (missed cycles : 8).[0m ×2 + 9.83sWARNcontroller_managerOverrun might occur, Total time : 4762.475 us (Expected < 1666.667 us) --> Read time : 145.417 us, Update time : 4164.557 us, Write time : 452.501 us + 9.84sWARNros2_control_nodeOverrun might occur, Total time : 4762.475 us (Expected < 1666.667 us) --> Read time : 145.417 us, Update time : 4164.557 us, Write time : 452.501 us[0m ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135665 ms (missed cycles : 5). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135665 ms (missed cycles : 5).[0m ×2 + 10.42sINFOros2_control_node[2026-06-03 15:07:06.319] [info] Received new action goal ×2 + 10.42sINFOros2_control_node[2026-06-03 15:07:06.319] [info] Accepted new action goal ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977481 ms (missed cycles : 3). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977481 ms (missed cycles : 3).[0m ×2 + 11.73sWARNcontroller_managerOverrun might occur, Total time : 2012.846 us (Expected < 1666.667 us) --> Read time : 181.209 us, Update time : 38.882 us, Write time : 1792.755 us + 11.73sWARNros2_control_nodeOverrun might occur, Total time : 2012.846 us (Expected < 1666.667 us) --> Read time : 181.209 us, Update time : 38.882 us, Write time : 1792.755 us[0m ×2 + 12.17sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.18sINFOros2_control_node[2026-06-03 15:07:08.084] [info] Received new action goal ×2 + 12.18sINFOros2_control_node[2026-06-03 15:07:08.084] [info] Accepted new action goal ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702597 ms (missed cycles : 2). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702597 ms (missed cycles : 2).[0m ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748099 ms (missed cycles : 3). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748099 ms (missed cycles : 3).[0m ×2 + 13.49sINFOros2_control_node[2026-06-03 15:07:09.390] [info] Got request to cancel active goal. ×2 + 13.49sINFOros2_control_node[2026-06-03 15:07:09.390] [info] Canceling active goal... ×2 + 13.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780499229.39464426 seconds ×3 + 13.56sWARNcontroller_managerOverrun might occur, Total time : 6026.625 us (Expected < 1666.667 us) --> Read time : 106.705 us, Update time : 5535.342 us, Write time : 384.578 us + 13.56sWARNros2_control_nodeOverrun might occur, Total time : 6026.625 us (Expected < 1666.667 us) --> Read time : 106.705 us, Update time : 5535.342 us, Write time : 384.578 us[0m ×2 + 14.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780499230.00417590 seconds. ×3 + 14.15sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.15sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.15sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.15sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 14.25sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 14.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.26sINFOros2_control_node[2026-06-03 15:07:10.168] [info] Received new action goal ×2 + 14.26sINFOros2_control_node[2026-06-03 15:07:10.168] [info] Accepted new action goal ×2 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663327 ms (missed cycles : 2). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663327 ms (missed cycles : 2).[0m ×2 + 14.80sWARNcontroller_managerOverrun might occur, Total time : 4313.394 us (Expected < 1666.667 us) --> Read time : 118.085 us, Update time : 3693.975 us, Write time : 501.334 us + 14.80sWARNros2_control_nodeOverrun might occur, Total time : 4313.394 us (Expected < 1666.667 us) --> Read time : 118.085 us, Update time : 3693.975 us, Write time : 501.334 us[0m ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625393 ms (missed cycles : 3). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625393 ms (missed cycles : 3).[0m ×2 + 15.81sWARNcontroller_managerOverrun might occur, Total time : 2649.233 us (Expected < 1666.667 us) --> Read time : 164.637 us, Update time : 2137.770 us, Write time : 346.826 us + 15.81sWARNros2_control_nodeOverrun might occur, Total time : 2649.233 us (Expected < 1666.667 us) --> Read time : 164.637 us, Update time : 2137.770 us, Write time : 346.826 us[0m ×2 + 16.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012365 ms (missed cycles : 2). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012365 ms (missed cycles : 2).[0m ×2 + 17.33sWARNcontroller_managerOverrun might occur, Total time : 2581.951 us (Expected < 1666.667 us) --> Read time : 117.705 us, Update time : 2123.970 us, Write time : 340.276 us + 17.33sWARNros2_control_nodeOverrun might occur, Total time : 2581.951 us (Expected < 1666.667 us) --> Read time : 117.705 us, Update time : 2123.970 us, Write time : 340.276 us[0m ×2
✓ passed	Plan and Save Trajectory	plan_and_save_trajectory.xml	11.0s	6 errors · 84 warnings · 66 info
+ 0.00sINFOros2_control_node[2026-06-03 15:07:06.319] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-03 15:07:06.319] [info] Accepted new action goal ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977481 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977481 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun might occur, Total time : 2012.846 us (Expected < 1666.667 us) --> Read time : 181.209 us, Update time : 38.882 us, Write time : 1792.755 us + 1.31sWARNros2_control_nodeOverrun might occur, Total time : 2012.846 us (Expected < 1666.667 us) --> Read time : 181.209 us, Update time : 38.882 us, Write time : 1792.755 us[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-06-03 15:07:08.084] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-06-03 15:07:08.084] [info] Accepted new action goal ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702597 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702597 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748099 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748099 ms (missed cycles : 3).[0m ×2 + 3.07sINFOros2_control_node[2026-06-03 15:07:09.390] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-06-03 15:07:09.390] [info] Canceling active goal... ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780499229.39464426 seconds ×3 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.14sWARNcontroller_managerOverrun might occur, Total time : 6026.625 us (Expected < 1666.667 us) --> Read time : 106.705 us, Update time : 5535.342 us, Write time : 384.578 us + 3.14sWARNros2_control_nodeOverrun might occur, Total time : 6026.625 us (Expected < 1666.667 us) --> Read time : 106.705 us, Update time : 5535.342 us, Write time : 384.578 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780499230.00417590 seconds. ×3 + 3.74sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.74sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.74sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.74sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-06-03 15:07:10.168] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-06-03 15:07:10.168] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663327 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663327 ms (missed cycles : 2).[0m ×2 + 4.38sWARNcontroller_managerOverrun might occur, Total time : 4313.394 us (Expected < 1666.667 us) --> Read time : 118.085 us, Update time : 3693.975 us, Write time : 501.334 us + 4.38sWARNros2_control_nodeOverrun might occur, Total time : 4313.394 us (Expected < 1666.667 us) --> Read time : 118.085 us, Update time : 3693.975 us, Write time : 501.334 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625393 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625393 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2649.233 us (Expected < 1666.667 us) --> Read time : 164.637 us, Update time : 2137.770 us, Write time : 346.826 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2649.233 us (Expected < 1666.667 us) --> Read time : 164.637 us, Update time : 2137.770 us, Write time : 346.826 us[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012365 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012365 ms (missed cycles : 2).[0m ×2 + 6.91sWARNcontroller_managerOverrun might occur, Total time : 2581.951 us (Expected < 1666.667 us) --> Read time : 117.705 us, Update time : 2123.970 us, Write time : 340.276 us + 6.91sWARNros2_control_nodeOverrun might occur, Total time : 2581.951 us (Expected < 1666.667 us) --> Read time : 117.705 us, Update time : 2123.970 us, Write time : 340.276 us[0m ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545592 ms (missed cycles : 2). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545592 ms (missed cycles : 2).[0m ×2 + 7.97sWARNcontroller_managerOverrun might occur, Total time : 3111.367 us (Expected < 1666.667 us) --> Read time : 216.150 us, Update time : 2386.193 us, Write time : 509.024 us + 7.97sWARNros2_control_nodeOverrun might occur, Total time : 3111.367 us (Expected < 1666.667 us) --> Read time : 216.150 us, Update time : 2386.193 us, Write time : 509.024 us[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.141725 ms (missed cycles : 5). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.141725 ms (missed cycles : 5).[0m ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843776 ms (missed cycles : 3). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843776 ms (missed cycles : 3).[0m ×2 + 9.44sWARNcontroller_managerOverrun might occur, Total time : 1677.490 us (Expected < 1666.667 us) --> Read time : 121.336 us, Update time : 45.833 us, Write time : 1510.321 us + 9.44sWARNros2_control_nodeOverrun might occur, Total time : 1677.490 us (Expected < 1666.667 us) --> Read time : 121.336 us, Update time : 45.833 us, Write time : 1510.321 us[0m ×2 + 10.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818255 ms (missed cycles : 2). + 10.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818255 ms (missed cycles : 2).[0m ×2 + 10.78sWARNcontroller_managerOverrun might occur, Total time : 5475.759 us (Expected < 1666.667 us) --> Read time : 178.339 us, Update time : 4753.544 us, Write time : 543.876 us + 10.78sWARNros2_control_nodeOverrun might occur, Total time : 5475.759 us (Expected < 1666.667 us) --> Read time : 178.339 us, Update time : 4753.544 us, Write time : 543.876 us[0m ×2 + 11.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644156 ms (missed cycles : 3). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644156 ms (missed cycles : 3).[0m ×2 + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.030453 ms (missed cycles : 8). + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.030453 ms (missed cycles : 8).[0m ×2 + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975386 ms (missed cycles : 5). + 13.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975386 ms (missed cycles : 5).[0m ×2 + 13.65sWARNcontroller_managerOverrun might occur, Total time : 4453.160 us (Expected < 1666.667 us) --> Read time : 167.818 us, Update time : 3839.601 us, Write time : 445.741 us + 13.66sWARNros2_control_nodeOverrun might occur, Total time : 4453.160 us (Expected < 1666.667 us) --> Read time : 167.818 us, Update time : 3839.601 us, Write time : 445.741 us[0m ×2 + 14.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780499240.39449859 seconds ×3 + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095822 ms (missed cycles : 2). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095822 ms (missed cycles : 2).[0m ×2 + 14.64sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780499240.95591235 seconds. ×3 + 14.82sINFOfoxglove_bridgeRemoving channel 83 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.82sINFOfoxglove_bridgeRemoving channel 83 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.83sWARNcontroller_managerOverrun might occur, Total time : 3484.045 us (Expected < 1666.667 us) --> Read time : 197.730 us, Update time : 2840.634 us, Write time : 445.681 us + 14.83sWARNros2_control_nodeOverrun might occur, Total time : 3484.045 us (Expected < 1666.667 us) --> Read time : 197.730 us, Update time : 2840.634 us, Write time : 445.681 us[0m ×2 + 14.85sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 14.85sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 14.88sINFOros2_control_node[2026-06-03 15:07:21.194] [info] Received new action goal ×2 + 14.88sINFOros2_control_node[2026-06-03 15:07:21.194] [info] Accepted new action goal ×2 + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894703 ms (missed cycles : 2). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894703 ms (missed cycles : 2).[0m ×2 + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810948 ms (missed cycles : 3). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810948 ms (missed cycles : 3).[0m ×2 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794606 ms (missed cycles : 3). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794606 ms (missed cycles : 3).[0m ×2 + 17.69sWARNcontroller_managerOverrun might occur, Total time : 1911.610 us (Expected < 1666.667 us) --> Read time : 199.659 us, Update time : 246.622 us, Write time : 1465.329 us + 17.69sWARNros2_control_nodeOverrun might occur, Total time : 1911.610 us (Expected < 1666.667 us) --> Read time : 199.659 us, Update time : 246.622 us, Write time : 1465.329 us[0m ×2
✓ passed	Grasp Pose Using Yaml	grasp_pose_using_yaml.xml	10.9s	6 errors · 90 warnings · 191 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.442276 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.442276 ms (missed cycles : 4).[0m ×2 + 0.01sWARNcontroller_managerOverrun might occur, Total time : 4402.428 us (Expected < 1666.667 us) --> Read time : 120.296 us, Update time : 3789.799 us, Write time : 492.333 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4402.428 us (Expected < 1666.667 us) --> Read time : 120.296 us, Update time : 3789.799 us, Write time : 492.333 us[0m ×2 + 0.03sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 0.04sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729923 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729923 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 5960.212 us (Expected < 1666.667 us) --> Read time : 125.136 us, Update time : 5446.118 us, Write time : 388.958 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 5960.212 us (Expected < 1666.667 us) --> Read time : 125.136 us, Update time : 5446.118 us, Write time : 388.958 us[0m ×2 + 1.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 1.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×4 + 1.29sINFOobjective_server_nodeFound detection with id: 0, label: %s ×6 + 1.54sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution" + 1.54sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution"[0m ×2 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X__________X] ×4 + 1.56sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 1.56sINFOobjective_server_nodePath shortcutter: [X________________X] ×4 + 1.57sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 1.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×4 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (1.89e-07 s). ×2 + 1.63sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] ×4 + 1.65sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×8 + 1.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×4 + 1.69sINFOobjective_server_nodeFound path in 1 iterations (0.00198922 s). ×2 + 1.75sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×4 + 1.78sINFOobjective_server_nodeFound path in 1 iterations (0.00384561 s). ×2 + 1.83sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] ×4 + 1.85sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 1.91sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×4 + 1.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.94sINFOros2_control_node[2026-06-03 15:03:41.777] [info] Received new action goal ×2 + 1.94sINFOros2_control_node[2026-06-03 15:03:41.777] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765000 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765000 ms (missed cycles : 3).[0m ×2 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 1706.471 us (Expected < 1666.667 us) --> Read time : 196.859 us, Update time : 1151.495 us, Write time : 358.117 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 1706.471 us (Expected < 1666.667 us) --> Read time : 196.859 us, Update time : 1151.495 us, Write time : 358.117 us[0m ×2 + 2.66sINFOros2_control_node[2026-06-03 15:03:42.494] [info] Got request to cancel active goal. ×2 + 2.66sINFOros2_control_node[2026-06-03 15:03:42.494] [info] Canceling active goal... ×2 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780499022.51872301 seconds ×3 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.206853 ms (missed cycles : 7). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.206853 ms (missed cycles : 7).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780499023.10092115 seconds. ×3 + 3.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.44sINFOros2_control_node[2026-06-03 15:03:43.274] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-06-03 15:03:43.274] [info] Accepted new action goal ×2 + 3.59sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.59sINFOfoxglove_bridgeRemoving channel 69 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.60sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.60sINFOfoxglove_bridgeRemoving channel 69 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.03sWARNcontroller_managerOverrun might occur, Total time : 1792.285 us (Expected < 1666.667 us) --> Read time : 96.735 us, Update time : 1427.187 us, Write time : 268.363 us + 4.03sWARNros2_control_nodeOverrun might occur, Total time : 1792.285 us (Expected < 1666.667 us) --> Read time : 96.735 us, Update time : 1427.187 us, Write time : 268.363 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101482 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101482 ms (missed cycles : 2).[0m ×2 + 5.06sWARNcontroller_managerOverrun might occur, Total time : 5743.063 us (Expected < 1666.667 us) --> Read time : 128.426 us, Update time : 4937.414 us, Write time : 677.223 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 5743.063 us (Expected < 1666.667 us) --> Read time : 128.426 us, Update time : 4937.414 us, Write time : 677.223 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804082 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804082 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419159 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419159 ms (missed cycles : 3).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 11020.593 us (Expected < 1666.667 us) --> Read time : 117.395 us, Update time : 10450.206 us, Write time : 452.992 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 11020.593 us (Expected < 1666.667 us) --> Read time : 117.395 us, Update time : 10450.206 us, Write time : 452.992 us[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.376844 ms (missed cycles : 6). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.376844 ms (missed cycles : 6).[0m ×2 + 7.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.25% of iterations over budget over 1:10.005 of wall time (53/21630). Below 1% is expected on a non-realtime system.[0m ×2 + 8.12sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/solution" + 8.12sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/solution"[0m ×2 + 8.36sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 8.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528119 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528119 ms (missed cycles : 2).[0m ×2 + 8.41sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 8.50sINFOobjective_server_nodeFound path in 1 iterations (0.00236073 s). ×2 + 8.50sWARNcontroller_managerOverrun might occur, Total time : 2396.343 us (Expected < 1666.667 us) --> Read time : 185.088 us, Update time : 1758.904 us, Write time : 452.351 us + 8.50sWARNros2_control_nodeOverrun might occur, Total time : 2396.343 us (Expected < 1666.667 us) --> Read time : 185.088 us, Update time : 1758.904 us, Write time : 452.351 us[0m ×2 + 8.59sINFOobjective_server_nodeFound path in 1 iterations (0.00331384 s). ×2 + 9.07sINFOros2_control_node[2026-06-03 15:03:48.903] [info] Received new action goal ×2 + 9.07sINFOros2_control_node[2026-06-03 15:03:48.903] [info] Accepted new action goal ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681025 ms (missed cycles : 2). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681025 ms (missed cycles : 2).[0m ×2 + 9.87sWARNcontroller_managerOverrun might occur, Total time : 3342.538 us (Expected < 1666.667 us) --> Read time : 163.168 us, Update time : 2814.233 us, Write time : 365.137 us + 9.87sWARNros2_control_nodeOverrun might occur, Total time : 3342.538 us (Expected < 1666.667 us) --> Read time : 163.168 us, Update time : 2814.233 us, Write time : 365.137 us[0m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.115328 ms (missed cycles : 7). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.115328 ms (missed cycles : 7).[0m ×2 + 10.95sWARNcontroller_managerOverrun might occur, Total time : 1713.331 us (Expected < 1666.667 us) --> Read time : 153.367 us, Update time : 129.186 us, Write time : 1430.778 us + 10.95sWARNros2_control_nodeOverrun might occur, Total time : 1713.331 us (Expected < 1666.667 us) --> Read time : 153.367 us, Update time : 129.186 us, Write time : 1430.778 us[0m ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405308 ms (missed cycles : 2). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405308 ms (missed cycles : 2).[0m ×2 + 11.82sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 11.82sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.82sINFOobjective_server_nodeFound path in 0 iterations (1.1e-07 s). ×2 + 11.82sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 11.83sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 11.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 11.89sINFOobjective_server_nodeFound path in 1 iterations (0.00198892 s). ×2 + 11.96sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] ×2 + 12.01sINFOros2_control_node[2026-06-03 15:03:51.845] [info] Received new action goal ×2 + 12.01sINFOros2_control_node[2026-06-03 15:03:51.845] [info] Accepted new action goal ×2 + 12.45sINFOros2_control_node[2026-06-03 15:03:52.287] [info] Received new action goal ×2 + 12.45sINFOros2_control_node[2026-06-03 15:03:52.287] [info] Accepted new action goal ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809436 ms (missed cycles : 3). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809436 ms (missed cycles : 3).[0m ×2 + 12.62sWARNcontroller_managerOverrun might occur, Total time : 4510.024 us (Expected < 1666.667 us) --> Read time : 186.059 us, Update time : 3863.663 us, Write time : 460.302 us + 12.63sWARNros2_control_nodeOverrun might occur, Total time : 4510.024 us (Expected < 1666.667 us) --> Read time : 186.059 us, Update time : 3863.663 us, Write time : 460.302 us[0m ×2 + 13.56sINFOros2_control_node[2026-06-03 15:03:53.391] [info] Got request to cancel active goal. ×2 + 13.56sINFOros2_control_node[2026-06-03 15:03:53.391] [info] Canceling active goal... ×2 + 13.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780499033.39880228 seconds ×3 + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.099554 ms (missed cycles : 5). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.099554 ms (missed cycles : 5).[0m ×2 + 14.19sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780499034.02023745 seconds. ×3 + 14.21sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.21sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.26sWARNcontroller_managerOverrun might occur, Total time : 4316.894 us (Expected < 1666.667 us) --> Read time : 90.504 us, Update time : 3816.220 us, Write time : 410.170 us + 14.27sWARNros2_control_nodeOverrun might occur, Total time : 4316.894 us (Expected < 1666.667 us) --> Read time : 90.504 us, Update time : 3816.220 us, Write time : 410.170 us[0m ×2 + 14.36sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 14.37sINFOros2_control_node[2026-06-03 15:03:54.204] [info] Received new action goal ×2 + 14.37sINFOros2_control_node[2026-06-03 15:03:54.204] [info] Accepted new action goal ×2 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421838 ms (missed cycles : 2). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421838 ms (missed cycles : 2).[0m ×2 + 14.71sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.71sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 15.72sWARNcontroller_managerOverrun might occur, Total time : 4488.923 us (Expected < 1666.667 us) --> Read time : 103.995 us, Update time : 3826.571 us, Write time : 558.357 us + 15.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703647 ms (missed cycles : 3). + 15.72sWARNros2_control_nodeOverrun might occur, Total time : 4488.923 us (Expected < 1666.667 us) --> Read time : 103.995 us, Update time : 3826.571 us, Write time : 558.357 us[0m ×2 + 15.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703647 ms (missed cycles : 3).[0m ×2 + 16.78sWARNcontroller_managerOverrun might occur, Total time : 1692.521 us (Expected < 1666.667 us) --> Read time : 170.919 us, Update time : 1243.669 us, Write time : 277.933 us + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872787 ms (missed cycles : 2). + 16.78sWARNros2_control_nodeOverrun might occur, Total time : 1692.521 us (Expected < 1666.667 us) --> Read time : 170.919 us, Update time : 1243.669 us, Write time : 277.933 us[0m ×2 + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872787 ms (missed cycles : 2).[0m ×2 + 16.78sINFOros2_control_node[2026-06-03 15:03:56.617] [info] Received new action goal ×2 + 16.78sINFOros2_control_node[2026-06-03 15:03:56.617] [info] Accepted new action goal ×2
✓ passed	Grasp Pose Tuning With April Tag	grasp_pose_tuning_with_april_tag.xml	10.9s	6 errors · 93 warnings · 127 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Accepted new action goal ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5).[0m ×2 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us + 0.78sWARNros2_control_nodeOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2).[0m ×2 + 1.88sWARNcontroller_managerOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us + 1.88sWARNros2_control_nodeOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us[0m ×2 + 2.17sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Canceling active goal... ×2 + 2.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499011.49931669 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499012.24203801 seconds. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.99sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 2.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 2.99sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 2.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.05sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2).[0m ×2 + 4.43sWARNcontroller_managerOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us + 4.43sWARNros2_control_nodeOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun might occur, Total time : 4762.206 us (Expected < 1666.667 us) --> Read time : 127.636 us, Update time : 4178.328 us, Write time : 456.242 us + 6.80sWARNros2_control_nodeOverrun might occur, Total time : 4762.206 us (Expected < 1666.667 us) --> Read time : 127.636 us, Update time : 4178.328 us, Write time : 456.242 us[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572546 ms (missed cycles : 3). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572546 ms (missed cycles : 3).[0m ×2 + 7.85sWARNcontroller_managerOverrun might occur, Total time : 6667.885 us (Expected < 1666.667 us) --> Read time : 105.194 us, Update time : 6145.831 us, Write time : 416.860 us + 7.85sWARNros2_control_nodeOverrun might occur, Total time : 6667.885 us (Expected < 1666.667 us) --> Read time : 105.194 us, Update time : 6145.831 us, Write time : 416.860 us[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029443 ms (missed cycles : 8). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029443 ms (missed cycles : 8).[0m ×2 + 9.30sWARNcontroller_managerOverrun might occur, Total time : 4283.804 us (Expected < 1666.667 us) --> Read time : 117.846 us, Update time : 3797.100 us, Write time : 368.858 us + 9.30sWARNros2_control_nodeOverrun might occur, Total time : 4283.804 us (Expected < 1666.667 us) --> Read time : 117.846 us, Update time : 3797.100 us, Write time : 368.858 us[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131257 ms (missed cycles : 2). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131257 ms (missed cycles : 2).[0m ×2 + 10.05sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures" + 10.05sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures"[0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.442276 ms (missed cycles : 4). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.442276 ms (missed cycles : 4).[0m ×2 + 10.53sWARNcontroller_managerOverrun might occur, Total time : 4402.428 us (Expected < 1666.667 us) --> Read time : 120.296 us, Update time : 3789.799 us, Write time : 492.333 us + 10.53sWARNros2_control_nodeOverrun might occur, Total time : 4402.428 us (Expected < 1666.667 us) --> Read time : 120.296 us, Update time : 3789.799 us, Write time : 492.333 us[0m ×2 + 10.55sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 10.55sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729923 ms (missed cycles : 2). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729923 ms (missed cycles : 2).[0m ×2 + 11.65sWARNcontroller_managerOverrun might occur, Total time : 5960.212 us (Expected < 1666.667 us) --> Read time : 125.136 us, Update time : 5446.118 us, Write time : 388.958 us + 11.65sWARNros2_control_nodeOverrun might occur, Total time : 5960.212 us (Expected < 1666.667 us) --> Read time : 125.136 us, Update time : 5446.118 us, Write time : 388.958 us[0m ×2 + 11.80sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 11.80sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 11.80sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 12.06sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution" + 12.06sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution"[0m ×2 + 12.07sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 12.07sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 12.08sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 12.08sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 12.09sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 12.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 12.12sINFOobjective_server_nodeFound path in 0 iterations (1.89e-07 s). ×2 + 12.14sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] ×2 + 12.16sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 12.19sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 12.21sINFOobjective_server_nodeFound path in 1 iterations (0.00198922 s). ×2 + 12.27sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 12.29sINFOobjective_server_nodeFound path in 1 iterations (0.00384561 s). ×2 + 12.35sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] ×2 + 12.36sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 12.42sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 12.46sINFOros2_control_node[2026-06-03 15:03:41.777] [info] Received new action goal ×2 + 12.46sINFOros2_control_node[2026-06-03 15:03:41.777] [info] Accepted new action goal ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765000 ms (missed cycles : 3). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765000 ms (missed cycles : 3).[0m ×2 + 12.80sWARNcontroller_managerOverrun might occur, Total time : 1706.471 us (Expected < 1666.667 us) --> Read time : 196.859 us, Update time : 1151.495 us, Write time : 358.117 us + 12.80sWARNros2_control_nodeOverrun might occur, Total time : 1706.471 us (Expected < 1666.667 us) --> Read time : 196.859 us, Update time : 1151.495 us, Write time : 358.117 us[0m ×2 + 13.18sINFOros2_control_node[2026-06-03 15:03:42.494] [info] Got request to cancel active goal. ×2 + 13.18sINFOros2_control_node[2026-06-03 15:03:42.494] [info] Canceling active goal... ×2 + 13.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780499022.51872301 seconds ×3 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.206853 ms (missed cycles : 7). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.206853 ms (missed cycles : 7).[0m ×2 + 13.78sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780499023.10092115 seconds. ×3 + 13.95sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 13.96sINFOros2_control_node[2026-06-03 15:03:43.274] [info] Received new action goal ×2 + 13.96sINFOros2_control_node[2026-06-03 15:03:43.274] [info] Accepted new action goal ×2 + 14.11sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.11sINFOfoxglove_bridgeRemoving channel 69 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.12sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.12sINFOfoxglove_bridgeRemoving channel 69 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.55sWARNcontroller_managerOverrun might occur, Total time : 1792.285 us (Expected < 1666.667 us) --> Read time : 96.735 us, Update time : 1427.187 us, Write time : 268.363 us + 14.55sWARNros2_control_nodeOverrun might occur, Total time : 1792.285 us (Expected < 1666.667 us) --> Read time : 96.735 us, Update time : 1427.187 us, Write time : 268.363 us[0m ×2 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101482 ms (missed cycles : 2). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101482 ms (missed cycles : 2).[0m ×2 + 15.57sWARNcontroller_managerOverrun might occur, Total time : 5743.063 us (Expected < 1666.667 us) --> Read time : 128.426 us, Update time : 4937.414 us, Write time : 677.223 us + 15.57sWARNros2_control_nodeOverrun might occur, Total time : 5743.063 us (Expected < 1666.667 us) --> Read time : 128.426 us, Update time : 4937.414 us, Write time : 677.223 us[0m ×2 + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804082 ms (missed cycles : 3). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804082 ms (missed cycles : 3).[0m ×2 + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419159 ms (missed cycles : 3). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419159 ms (missed cycles : 3).[0m ×2 + 17.10sWARNcontroller_managerOverrun might occur, Total time : 11020.593 us (Expected < 1666.667 us) --> Read time : 117.395 us, Update time : 10450.206 us, Write time : 452.992 us + 17.10sWARNros2_control_nodeOverrun might occur, Total time : 11020.593 us (Expected < 1666.667 us) --> Read time : 117.395 us, Update time : 10450.206 us, Write time : 452.992 us[0m ×2
✓ passed	3 Waypoints Pick and Place	3_waypoint_pick_and_place.xml	10.9s	3 errors · 93 warnings · 175 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 1.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 1.31sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 1.31sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 1.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.43sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 2.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.43sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 2.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 3.05sINFOobjective_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 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.15sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 3.45sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 3.45sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 4.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 5.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 5.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 5.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 5.67sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 5.68sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 5.68sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×2 + 6.20sWARNcontroller_managerOverrun might occur, Total time : 1724.742 us (Expected < 1666.667 us) --> Read time : 119.896 us, Update time : 1169.235 us, Write time : 435.611 us + 6.20sWARNros2_control_nodeOverrun might occur, Total time : 1724.742 us (Expected < 1666.667 us) --> Read time : 119.896 us, Update time : 1169.235 us, Write time : 435.611 us[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.004576 ms (missed cycles : 5). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.004576 ms (missed cycles : 5).[0m ×2 + 7.79sWARNcontroller_managerOverrun might occur, Total time : 2835.054 us (Expected < 1666.667 us) --> Read time : 206.530 us, Update time : 2265.087 us, Write time : 363.437 us + 7.80sWARNros2_control_nodeOverrun might occur, Total time : 2835.054 us (Expected < 1666.667 us) --> Read time : 206.530 us, Update time : 2265.087 us, Write time : 363.437 us[0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998147 ms (missed cycles : 5). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998147 ms (missed cycles : 5).[0m ×2 + 8.82sWARNcontroller_managerOverrun might occur, Total time : 2558.131 us (Expected < 1666.667 us) --> Read time : 119.415 us, Update time : 2084.659 us, Write time : 354.057 us + 8.82sWARNros2_control_nodeOverrun might occur, Total time : 2558.131 us (Expected < 1666.667 us) --> Read time : 119.415 us, Update time : 2084.659 us, Write time : 354.057 us[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919116 ms (missed cycles : 2). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919116 ms (missed cycles : 2).[0m ×2 + 9.40sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). ×2 + 9.41sINFOros2_control_node[2026-06-03 15:02:52.011] [info] Received new action goal ×2 + 9.41sINFOros2_control_node[2026-06-03 15:02:52.011] [info] Accepted new action goal ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.181486 ms (missed cycles : 5). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.181486 ms (missed cycles : 5).[0m ×2 + 10.16sWARNcontroller_managerOverrun might occur, Total time : 6022.135 us (Expected < 1666.667 us) --> Read time : 192.089 us, Update time : 5346.003 us, Write time : 484.043 us + 10.16sWARNros2_control_nodeOverrun might occur, Total time : 6022.135 us (Expected < 1666.667 us) --> Read time : 192.089 us, Update time : 5346.003 us, Write time : 484.043 us[0m ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957264 ms (missed cycles : 3). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957264 ms (missed cycles : 3).[0m ×2 + 11.23sWARNcontroller_managerOverrun might occur, Total time : 3461.014 us (Expected < 1666.667 us) --> Read time : 2960.361 us, Update time : 67.693 us, Write time : 432.960 us + 11.23sWARNros2_control_nodeOverrun might occur, Total time : 3461.014 us (Expected < 1666.667 us) --> Read time : 2960.361 us, Update time : 67.693 us, Write time : 432.960 us[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886330 ms (missed cycles : 3). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886330 ms (missed cycles : 3).[0m ×2 + 12.61sWARNcontroller_managerOverrun might occur, Total time : 6122.752 us (Expected < 1666.667 us) --> Read time : 149.738 us, Update time : 5427.668 us, Write time : 545.346 us + 12.61sWARNros2_control_nodeOverrun might occur, Total time : 6122.752 us (Expected < 1666.667 us) --> Read time : 149.738 us, Update time : 5427.668 us, Write time : 545.346 us[0m ×2 + 12.71sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 12.72sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 12.72sINFOros2_control_node[2026-06-03 15:02:55.322] [info] Received new action goal ×2 + 12.72sINFOros2_control_node[2026-06-03 15:02:55.322] [info] Accepted new action goal ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623931 ms (missed cycles : 4). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623931 ms (missed cycles : 4).[0m ×2 + 13.29sINFOros2_control_node[2026-06-03 15:02:55.888] [info] Got request to cancel active goal. ×2 + 13.29sINFOros2_control_node[2026-06-03 15:02:55.888] [info] Canceling active goal... ×2 + 13.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780498975.90337992 seconds ×3 + 13.65sWARNcontroller_managerOverrun might occur, Total time : 2280.149 us (Expected < 1666.667 us) --> Read time : 164.548 us, Update time : 751.616 us, Write time : 1363.985 us + 13.65sWARNros2_control_nodeOverrun might occur, Total time : 2280.149 us (Expected < 1666.667 us) --> Read time : 164.548 us, Update time : 751.616 us, Write time : 1363.985 us[0m ×2 + 13.85sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780498976.44973707 seconds. ×3 + 13.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780498976.57987142 seconds ×3 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309450 ms (missed cycles : 5). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309450 ms (missed cycles : 5).[0m ×2 + 14.56sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780498977.15401053 seconds. ×3 + 14.93sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 14.93sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 15.03sWARNcontroller_managerOverrun might occur, Total time : 1685.860 us (Expected < 1666.667 us) --> Read time : 111.115 us, Update time : 1288.281 us, Write time : 286.464 us + 15.03sWARNros2_control_nodeOverrun might occur, Total time : 1685.860 us (Expected < 1666.667 us) --> Read time : 111.115 us, Update time : 1288.281 us, Write time : 286.464 us[0m ×2 + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709841 ms (missed cycles : 2). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709841 ms (missed cycles : 2).[0m ×2 + 15.73sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 15.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.74sINFOros2_control_node[2026-06-03 15:02:58.337] [info] Received new action goal ×2 + 15.74sINFOros2_control_node[2026-06-03 15:02:58.337] [info] Accepted new action goal ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698173 ms (missed cycles : 3). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698173 ms (missed cycles : 3).[0m ×2 + 16.76sWARNcontroller_managerOverrun might occur, Total time : 4853.369 us (Expected < 1666.667 us) --> Read time : 168.688 us, Update time : 4175.037 us, Write time : 509.644 us + 16.76sWARNros2_control_nodeOverrun might occur, Total time : 4853.369 us (Expected < 1666.667 us) --> Read time : 168.688 us, Update time : 4175.037 us, Write time : 509.644 us[0m ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723581 ms (missed cycles : 2). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723581 ms (missed cycles : 2).[0m ×2
✓ passed	Cycle Between Waypoints	cycle_between_waypoints.xml	10.7s	3 errors · 90 warnings · 111 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.535305 ms (missed cycles : 7). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.535305 ms (missed cycles : 7).[0m ×2 + 0.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.39sINFOros2_control_node[2026-06-03 15:03:18.697] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-06-03 15:03:18.697] [info] Accepted new action goal ×2 + 0.51sWARNcontroller_managerOverrun might occur, Total time : 2590.353 us (Expected < 1666.667 us) --> Read time : 270.783 us, Update time : 1983.474 us, Write time : 336.096 us + 0.51sWARNros2_control_nodeOverrun might occur, Total time : 2590.353 us (Expected < 1666.667 us) --> Read time : 270.783 us, Update time : 1983.474 us, Write time : 336.096 us[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.674158 ms (missed cycles : 6). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.674158 ms (missed cycles : 6).[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780499000.08417225 seconds ×3 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.88sWARNcontroller_managerOverrun might occur, Total time : 6024.636 us (Expected < 1666.667 us) --> Read time : 90.355 us, Update time : 5556.983 us, Write time : 377.298 us + 1.88sWARNros2_control_nodeOverrun might occur, Total time : 6024.636 us (Expected < 1666.667 us) --> Read time : 90.355 us, Update time : 5556.983 us, Write time : 377.298 us[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780499000.65875721 seconds. ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299470 ms (missed cycles : 4). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299470 ms (missed cycles : 4).[0m ×2 + 2.43sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.43sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780499000.74392748 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780499001.30694079 seconds. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 2434.856 us (Expected < 1666.667 us) --> Read time : 114.766 us, Update time : 1967.083 us, Write time : 353.007 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 2434.856 us (Expected < 1666.667 us) --> Read time : 114.766 us, Update time : 1967.083 us, Write time : 353.007 us[0m ×2 + 3.09sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.09sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.11sINFOros2_control_node[2026-06-03 15:03:21.411] [info] Received new action goal ×2 + 3.11sINFOros2_control_node[2026-06-03 15:03:21.411] [info] Accepted new action goal ×2 + 3.44sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.44sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478879 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478879 ms (missed cycles : 5).[0m ×2 + 4.23sWARNcontroller_managerOverrun might occur, Total time : 6020.516 us (Expected < 1666.667 us) --> Read time : 129.287 us, Update time : 5470.439 us, Write time : 420.790 us + 4.24sWARNros2_control_nodeOverrun might occur, Total time : 6020.516 us (Expected < 1666.667 us) --> Read time : 129.287 us, Update time : 5470.439 us, Write time : 420.790 us[0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060940 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060940 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183714 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183714 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun might occur, Total time : 1742.523 us (Expected < 1666.667 us) --> Read time : 182.019 us, Update time : 1237.638 us, Write time : 322.866 us + 6.13sWARNros2_control_nodeOverrun might occur, Total time : 1742.523 us (Expected < 1666.667 us) --> Read time : 182.019 us, Update time : 1237.638 us, Write time : 322.866 us[0m ×2 + 6.43sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.44sINFOros2_control_node[2026-06-03 15:03:24.743] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-06-03 15:03:24.743] [info] Accepted new action goal ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794026 ms (missed cycles : 2). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794026 ms (missed cycles : 2).[0m ×2 + 7.68sWARNcontroller_managerOverrun might occur, Total time : 2517.149 us (Expected < 1666.667 us) --> Read time : 151.307 us, Update time : 2063.888 us, Write time : 301.954 us + 7.68sWARNros2_control_nodeOverrun might occur, Total time : 2517.149 us (Expected < 1666.667 us) --> Read time : 151.307 us, Update time : 2063.888 us, Write time : 301.954 us[0m ×2 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608203 ms (missed cycles : 3). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608203 ms (missed cycles : 3).[0m ×2 + 8.74sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 8.75sINFOros2_control_node[2026-06-03 15:03:27.058] [info] Received new action goal ×2 + 8.75sINFOros2_control_node[2026-06-03 15:03:27.058] [info] Accepted new action goal ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.798267 ms (missed cycles : 5). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.798267 ms (missed cycles : 5).[0m ×2 + 9.07sWARNcontroller_managerOverrun might occur, Total time : 2139.250 us (Expected < 1666.667 us) --> Read time : 125.886 us, Update time : 1548.753 us, Write time : 464.611 us + 9.07sWARNros2_control_nodeOverrun might occur, Total time : 2139.250 us (Expected < 1666.667 us) --> Read time : 125.886 us, Update time : 1548.753 us, Write time : 464.611 us[0m ×2 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459178 ms (missed cycles : 3). + 10.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459178 ms (missed cycles : 3).[0m ×2 + 10.14sWARNcontroller_managerOverrun might occur, Total time : 1798.046 us (Expected < 1666.667 us) --> Read time : 155.078 us, Update time : 1319.862 us, Write time : 323.106 us + 10.14sWARNros2_control_nodeOverrun might occur, Total time : 1798.046 us (Expected < 1666.667 us) --> Read time : 155.078 us, Update time : 1319.862 us, Write time : 323.106 us[0m ×2 + 11.09sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 11.09sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Received new action goal ×2 + 11.09sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Accepted new action goal ×2 + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5).[0m ×2 + 11.79sWARNcontroller_managerOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us + 11.79sWARNros2_control_nodeOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us[0m ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2).[0m ×2 + 12.89sWARNcontroller_managerOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us + 12.89sWARNros2_control_nodeOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us[0m ×2 + 13.18sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Got request to cancel active goal. ×2 + 13.18sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Canceling active goal... ×2 + 13.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499011.49931669 seconds ×3 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3).[0m ×2 + 13.94sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499012.24203801 seconds. ×3 + 14.00sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 14.00sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 14.00sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 14.00sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 14.20sWARNcontroller_managerOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us + 14.20sWARNros2_control_nodeOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us[0m ×2 + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2).[0m ×2 + 15.05sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 15.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.06sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Received new action goal ×2 + 15.06sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Accepted new action goal ×2 + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2).[0m ×2 + 15.44sWARNcontroller_managerOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us + 15.44sWARNros2_control_nodeOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us[0m ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3).[0m ×2 + 16.78sWARNcontroller_managerOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us + 16.79sWARNros2_control_nodeOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us[0m ×2 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3).[0m ×2
✓ passed	Record and Replay Scanning Motion	record_and_replay_scanning_motion.xml	10.7s	3 errors · 90 warnings · 98 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954765 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954765 ms (missed cycles : 3).[0m ×2 + 0.74sWARNcontroller_managerOverrun might occur, Total time : 2258.797 us (Expected < 1666.667 us) --> Read time : 145.207 us, Update time : 1774.474 us, Write time : 339.116 us + 0.74sWARNros2_control_nodeOverrun might occur, Total time : 2258.797 us (Expected < 1666.667 us) --> Read time : 145.207 us, Update time : 1774.474 us, Write time : 339.116 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635254 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635254 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739905 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739905 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun might occur, Total time : 1670.499 us (Expected < 1666.667 us) --> Read time : 128.787 us, Update time : 1185.525 us, Write time : 356.187 us + 2.17sWARNros2_control_nodeOverrun might occur, Total time : 1670.499 us (Expected < 1666.667 us) --> Read time : 128.787 us, Update time : 1185.525 us, Write time : 356.187 us[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780499250.78945804 seconds ×3 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.135508 ms (missed cycles : 8). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.135508 ms (missed cycles : 8).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780499251.34266567 seconds. ×3 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.56sWARNcontroller_managerOverrun might occur, Total time : 2738.929 us (Expected < 1666.667 us) --> Read time : 130.066 us, Update time : 2207.564 us, Write time : 401.299 us + 3.56sWARNros2_control_nodeOverrun might occur, Total time : 2738.929 us (Expected < 1666.667 us) --> Read time : 130.066 us, Update time : 2207.564 us, Write time : 401.299 us[0m ×2 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.60sINFOros2_control_node[2026-06-03 15:07:31.467] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-06-03 15:07:31.467] [info] Accepted new action goal ×2 + 3.86sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/preview_solution" + 3.86sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/preview_solution"[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866273 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866273 ms (missed cycles : 3).[0m ×2 + 4.79sWARNcontroller_managerOverrun might occur, Total time : 2153.042 us (Expected < 1666.667 us) --> Read time : 121.556 us, Update time : 1658.308 us, Write time : 373.178 us + 4.79sWARNros2_control_nodeOverrun might occur, Total time : 2153.042 us (Expected < 1666.667 us) --> Read time : 121.556 us, Update time : 1658.308 us, Write time : 373.178 us[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.883751 ms (missed cycles : 7). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.883751 ms (missed cycles : 7).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.88sWARNcontroller_managerOverrun might occur, Total time : 2845.665 us (Expected < 1666.667 us) --> Read time : 108.895 us, Update time : 2415.825 us, Write time : 320.945 us + 5.88sWARNros2_control_nodeOverrun might occur, Total time : 2845.665 us (Expected < 1666.667 us) --> Read time : 108.895 us, Update time : 2415.825 us, Write time : 320.945 us[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532517 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532517 ms (missed cycles : 3).[0m ×2 + 7.16sWARNcontroller_managerOverrun might occur, Total time : 2099.049 us (Expected < 1666.667 us) --> Read time : 304.584 us, Update time : 1414.307 us, Write time : 380.158 us + 7.16sWARNros2_control_nodeOverrun might occur, Total time : 2099.049 us (Expected < 1666.667 us) --> Read time : 304.584 us, Update time : 1414.307 us, Write time : 380.158 us[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.753877 ms (missed cycles : 5). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.753877 ms (missed cycles : 5).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117177 ms (missed cycles : 2). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117177 ms (missed cycles : 2).[0m ×2 + 8.47sWARNcontroller_managerOverrun might occur, Total time : 3970.427 us (Expected < 1666.667 us) --> Read time : 138.936 us, Update time : 3400.901 us, Write time : 430.590 us + 8.47sWARNros2_control_nodeOverrun might occur, Total time : 3970.427 us (Expected < 1666.667 us) --> Read time : 138.936 us, Update time : 3400.901 us, Write time : 430.590 us[0m ×2 + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938776 ms (missed cycles : 3). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938776 ms (missed cycles : 3).[0m ×2 + 9.78sWARNcontroller_managerOverrun might occur, Total time : 1683.799 us (Expected < 1666.667 us) --> Read time : 131.416 us, Update time : 88.694 us, Write time : 1463.689 us + 9.78sWARNros2_control_nodeOverrun might occur, Total time : 1683.799 us (Expected < 1666.667 us) --> Read time : 131.416 us, Update time : 88.694 us, Write time : 1463.689 us[0m ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752753 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752753 ms (missed cycles : 2).[0m ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548295 ms (missed cycles : 6). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548295 ms (missed cycles : 6).[0m ×2 + 11.40sWARNcontroller_managerOverrun might occur, Total time : 1813.996 us (Expected < 1666.667 us) --> Read time : 186.819 us, Update time : 1280.990 us, Write time : 346.187 us + 11.40sWARNros2_control_nodeOverrun might occur, Total time : 1813.996 us (Expected < 1666.667 us) --> Read time : 186.819 us, Update time : 1280.990 us, Write time : 346.187 us[0m ×2 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898070 ms (missed cycles : 2). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898070 ms (missed cycles : 2).[0m ×2 + 13.29sWARNcontroller_managerOverrun might occur, Total time : 2275.467 us (Expected < 1666.667 us) --> Read time : 214.480 us, Update time : 1597.875 us, Write time : 463.112 us + 13.29sWARNros2_control_nodeOverrun might occur, Total time : 2275.467 us (Expected < 1666.667 us) --> Read time : 214.480 us, Update time : 1597.875 us, Write time : 463.112 us[0m ×2 + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797731 ms (missed cycles : 2). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797731 ms (missed cycles : 2).[0m ×2 + 13.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780499261.50336242 seconds ×3 + 14.26sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780499262.12486243 seconds. ×3 + 14.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 14.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 14.32sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.32sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.33sWARNcontroller_managerOverrun might occur, Total time : 5849.318 us (Expected < 1666.667 us) --> Read time : 267.673 us, Update time : 5101.692 us (Switch time : 4987.686 us (Switch chained mode time : 1.010 us, perform mode change time : 3.950 us, Activation time : 4977.556 us, Deactivation time : 0.430 us)), Write time : 479.953 us + 14.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.33sWARNros2_control_nodeOverrun might occur, Total time : 5849.318 us (Expected < 1666.667 us) --> Read time : 267.673 us, Update time : 5101.692 us (Switch time : 4987.686 us (Switch chained mode time : 1.010 us, perform mode change time : 3.950 us, Activation time : 4977.556 us, Deactivation time : 0.430 us)), Write time : 479.953 us[0m ×2 + 14.34sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780499262.20500302 seconds ×3 + 14.46sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.46sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209543 ms (missed cycles : 2). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209543 ms (missed cycles : 2).[0m ×2 + 14.90sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780499262.76163268 seconds. ×3 + 14.93sINFOobjective_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 + 14.93sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780499262.79366112 seconds ×3 + 15.32sWARNcontroller_managerOverrun might occur, Total time : 3632.491 us (Expected < 1666.667 us) --> Read time : 148.456 us, Update time : 29.422 us, Write time : 3454.613 us + 15.32sWARNros2_control_nodeOverrun might occur, Total time : 3632.491 us (Expected < 1666.667 us) --> Read time : 148.456 us, Update time : 29.422 us, Write time : 3454.613 us[0m ×2 + 15.47sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780499263.33965445 seconds. ×3 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155871 ms (missed cycles : 3). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155871 ms (missed cycles : 3).[0m ×2 + 15.56sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 15.56sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.57sINFOros2_control_node[2026-06-03 15:07:43.434] [info] Received new action goal ×2 + 15.57sINFOros2_control_node[2026-06-03 15:07:43.434] [info] Accepted new action goal ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096030 ms (missed cycles : 2). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096030 ms (missed cycles : 2).[0m ×2 + 16.69sWARNcontroller_managerOverrun might occur, Total time : 3006.543 us (Expected < 1666.667 us) --> Read time : 147.367 us, Update time : 2539.201 us, Write time : 319.975 us + 16.69sWARNros2_control_nodeOverrun might occur, Total time : 3006.543 us (Expected < 1666.667 us) --> Read time : 147.367 us, Update time : 2539.201 us, Write time : 319.975 us[0m ×2
✓ passed	Stationary Admittance	stationary_admittance.xml	10.7s	6 errors · 93 warnings · 144 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898070 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898070 ms (missed cycles : 2).[0m ×2 + 0.90sWARNcontroller_managerOverrun might occur, Total time : 2275.467 us (Expected < 1666.667 us) --> Read time : 214.480 us, Update time : 1597.875 us, Write time : 463.112 us + 0.90sWARNros2_control_nodeOverrun might occur, Total time : 2275.467 us (Expected < 1666.667 us) --> Read time : 214.480 us, Update time : 1597.875 us, Write time : 463.112 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797731 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797731 ms (missed cycles : 2).[0m ×2 + 1.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780499261.50336242 seconds ×3 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 1.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780499262.12486243 seconds. ×3 + 1.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.95sWARNcontroller_managerOverrun might occur, Total time : 5849.318 us (Expected < 1666.667 us) --> Read time : 267.673 us, Update time : 5101.692 us (Switch time : 4987.686 us (Switch chained mode time : 1.010 us, perform mode change time : 3.950 us, Activation time : 4977.556 us, Deactivation time : 0.430 us)), Write time : 479.953 us + 1.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.95sWARNros2_control_nodeOverrun might occur, Total time : 5849.318 us (Expected < 1666.667 us) --> Read time : 267.673 us, Update time : 5101.692 us (Switch time : 4987.686 us (Switch chained mode time : 1.010 us, perform mode change time : 3.950 us, Activation time : 4977.556 us, Deactivation time : 0.430 us)), Write time : 479.953 us[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780499262.20500302 seconds ×3 + 2.07sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.07sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209543 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209543 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780499262.76163268 seconds. ×3 + 2.55sINFOobjective_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 + 2.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780499262.79366112 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 3632.491 us (Expected < 1666.667 us) --> Read time : 148.456 us, Update time : 29.422 us, Write time : 3454.613 us + 2.94sWARNros2_control_nodeOverrun might occur, Total time : 3632.491 us (Expected < 1666.667 us) --> Read time : 148.456 us, Update time : 29.422 us, Write time : 3454.613 us[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780499263.33965445 seconds. ×3 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155871 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155871 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.18sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.19sINFOros2_control_node[2026-06-03 15:07:43.434] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-06-03 15:07:43.434] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096030 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096030 ms (missed cycles : 2).[0m ×2 + 4.31sWARNcontroller_managerOverrun might occur, Total time : 3006.543 us (Expected < 1666.667 us) --> Read time : 147.367 us, Update time : 2539.201 us, Write time : 319.975 us + 4.31sWARNros2_control_nodeOverrun might occur, Total time : 3006.543 us (Expected < 1666.667 us) --> Read time : 147.367 us, Update time : 2539.201 us, Write time : 319.975 us[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053322 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053322 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955373 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955373 ms (missed cycles : 2).[0m ×2 + 6.49sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.50sINFOros2_control_node[2026-06-03 15:07:46.743] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-06-03 15:07:46.743] [info] Accepted new action goal ×2 + 6.50sINFOros2_control_node[2026-06-03 15:07:46.744] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 6.69sWARNcontroller_managerOverrun might occur, Total time : 3283.403 us (Expected < 1666.667 us) --> Read time : 129.716 us, Update time : 2695.986 us, Write time : 457.701 us + 6.69sWARNros2_control_nodeOverrun might occur, Total time : 3283.403 us (Expected < 1666.667 us) --> Read time : 129.716 us, Update time : 2695.986 us, Write time : 457.701 us[0m ×2 + 6.95sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.38% of iterations over budget over 5:10.013 of wall time (368/95622). Below 1% is expected on a non-realtime system.[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364616 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364616 ms (missed cycles : 2).[0m ×2 + 7.81sWARNcontroller_managerOverrun might occur, Total time : 9586.008 us (Expected < 1666.667 us) --> Read time : 157.897 us, Update time : 8873.865 us, Write time : 554.246 us + 7.81sWARNros2_control_nodeOverrun might occur, Total time : 9586.008 us (Expected < 1666.667 us) --> Read time : 157.897 us, Update time : 8873.865 us, Write time : 554.246 us[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882317 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882317 ms (missed cycles : 2).[0m ×2 + 8.83sWARNcontroller_managerOverrun might occur, Total time : 5187.654 us (Expected < 1666.667 us) --> Read time : 138.657 us, Update time : 4470.390 us, Write time : 578.607 us + 8.83sWARNros2_control_nodeOverrun might occur, Total time : 5187.654 us (Expected < 1666.667 us) --> Read time : 138.657 us, Update time : 4470.390 us, Write time : 578.607 us[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.583862 ms (missed cycles : 6). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.583862 ms (missed cycles : 6).[0m ×2 + 10.20sWARNcontroller_managerOverrun might occur, Total time : 4072.451 us (Expected < 1666.667 us) --> Read time : 121.086 us, Update time : 3504.874 us, Write time : 446.491 us + 10.21sWARNros2_control_nodeOverrun might occur, Total time : 4072.451 us (Expected < 1666.667 us) --> Read time : 121.086 us, Update time : 3504.874 us, Write time : 446.491 us[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088016 ms (missed cycles : 4). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088016 ms (missed cycles : 4).[0m ×2 + 11.51sWARNcontroller_managerOverrun might occur, Total time : 4984.953 us (Expected < 1666.667 us) --> Read time : 148.907 us, Update time : 4423.577 us, Write time : 412.469 us + 11.52sWARNros2_control_nodeOverrun might occur, Total time : 4984.953 us (Expected < 1666.667 us) --> Read time : 148.907 us, Update time : 4423.577 us, Write time : 412.469 us[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212019 ms (missed cycles : 2). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212019 ms (missed cycles : 2).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012153 ms (missed cycles : 2). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012153 ms (missed cycles : 2).[0m ×2 + 13.14sINFOros2_control_node[2026-06-03 15:07:53.389] [info] Got request to cancel active goal. ×2 + 13.14sINFOros2_control_node[2026-06-03 15:07:53.389] [info] Canceling active goal... ×2 + 13.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780499273.39461827 seconds ×3 + 13.19sWARNcontroller_managerOverrun might occur, Total time : 1886.468 us (Expected < 1666.667 us) --> Read time : 183.608 us, Update time : 1378.425 us, Write time : 324.435 us + 13.19sWARNros2_control_nodeOverrun might occur, Total time : 1886.468 us (Expected < 1666.667 us) --> Read time : 183.608 us, Update time : 1378.425 us, Write time : 324.435 us[0m ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498100 ms (missed cycles : 3). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498100 ms (missed cycles : 3).[0m ×2 + 13.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780499274.01740408 seconds. ×3 + 14.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780499274.41754675 seconds ×3 + 14.17sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event" + 14.17sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event"[0m ×2 + 14.57sWARNcontroller_managerOverrun might occur, Total time : 4109.451 us (Expected < 1666.667 us) --> Read time : 140.366 us, Update time : 3505.483 us, Write time : 463.602 us + 14.57sWARNros2_control_nodeOverrun might occur, Total time : 4109.451 us (Expected < 1666.667 us) --> Read time : 140.366 us, Update time : 3505.483 us, Write time : 463.602 us[0m ×2 + 14.71sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780499274.96084571 seconds. ×3 + 14.71sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 14.71sINFOobjective_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 + 14.71sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 14.71sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780499274.96242285 seconds ×3 + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844357 ms (missed cycles : 3). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844357 ms (missed cycles : 3).[0m ×2 + 15.18sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 15.18sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg" + 15.18sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 15.18sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg"[0m ×2 + 15.26sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780499275.50927019 seconds. ×3 + 15.26sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780499275.50969124 seconds ×3 + 15.69sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String) + 15.69sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 15.73sWARNcontroller_managerOverrun might occur, Total time : 6313.296 us (Expected < 1666.667 us) --> Read time : 164.228 us, Update time : 5709.578 us, Write time : 439.490 us + 15.73sWARNros2_control_nodeOverrun might occur, Total time : 6313.296 us (Expected < 1666.667 us) --> Read time : 164.228 us, Update time : 5709.578 us, Write time : 439.490 us[0m ×2 + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309294 ms (missed cycles : 4). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309294 ms (missed cycles : 4).[0m ×2 + 15.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780499276.06202817 seconds. ×3 + 16.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780499276.37216783 seconds ×3 + 16.15sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573708 ms (missed cycles : 3). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573708 ms (missed cycles : 3).[0m ×2 + 16.86sWARNcontroller_managerOverrun might occur, Total time : 4469.729 us (Expected < 1666.667 us) --> Read time : 130.446 us, Update time : 3911.203 us, Write time : 428.080 us + 16.86sWARNros2_control_nodeOverrun might occur, Total time : 4469.729 us (Expected < 1666.667 us) --> Read time : 130.446 us, Update time : 3911.203 us, Write time : 428.080 us[0m ×2
✓ passed	Playback Square Trajectory	playback_square_trajectory.xml	10.4s	3 errors · 84 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644156 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644156 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.030453 ms (missed cycles : 8). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.030453 ms (missed cycles : 8).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975386 ms (missed cycles : 5). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975386 ms (missed cycles : 5).[0m ×2 + 2.41sWARNcontroller_managerOverrun might occur, Total time : 4453.160 us (Expected < 1666.667 us) --> Read time : 167.818 us, Update time : 3839.601 us, Write time : 445.741 us + 2.41sWARNros2_control_nodeOverrun might occur, Total time : 4453.160 us (Expected < 1666.667 us) --> Read time : 167.818 us, Update time : 3839.601 us, Write time : 445.741 us[0m ×2 + 2.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780499240.39449859 seconds ×3 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095822 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095822 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780499240.95591235 seconds. ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.57sINFOfoxglove_bridgeRemoving channel 83 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.57sINFOfoxglove_bridgeRemoving channel 83 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3484.045 us (Expected < 1666.667 us) --> Read time : 197.730 us, Update time : 2840.634 us, Write time : 445.681 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3484.045 us (Expected < 1666.667 us) --> Read time : 197.730 us, Update time : 2840.634 us, Write time : 445.681 us[0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.64sINFOros2_control_node[2026-06-03 15:07:21.194] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-06-03 15:07:21.194] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894703 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894703 ms (missed cycles : 2).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810948 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810948 ms (missed cycles : 3).[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794606 ms (missed cycles : 3). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794606 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 1911.610 us (Expected < 1666.667 us) --> Read time : 199.659 us, Update time : 246.622 us, Write time : 1465.329 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 1911.610 us (Expected < 1666.667 us) --> Read time : 199.659 us, Update time : 246.622 us, Write time : 1465.329 us[0m ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963746 ms (missed cycles : 6). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963746 ms (missed cycles : 6).[0m ×2 + 7.64sINFOros2_control_node[2026-06-03 15:07:25.203] [info] Received new action goal ×2 + 7.64sINFOros2_control_node[2026-06-03 15:07:25.203] [info] Accepted new action goal ×2 + 7.75sWARNcontroller_managerOverrun might occur, Total time : 2994.282 us (Expected < 1666.667 us) --> Read time : 200.350 us, Update time : 2368.292 us, Write time : 425.640 us + 7.75sWARNros2_control_nodeOverrun might occur, Total time : 2994.282 us (Expected < 1666.667 us) --> Read time : 200.350 us, Update time : 2368.292 us, Write time : 425.640 us[0m ×2 + 8.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963578 ms (missed cycles : 2). + 8.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963578 ms (missed cycles : 2).[0m ×2 + 8.90sWARNcontroller_managerOverrun might occur, Total time : 1987.745 us (Expected < 1666.667 us) --> Read time : 207.280 us, Update time : 55.823 us, Write time : 1724.642 us + 8.90sWARNros2_control_nodeOverrun might occur, Total time : 1987.745 us (Expected < 1666.667 us) --> Read time : 207.280 us, Update time : 55.823 us, Write time : 1724.642 us[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.811509 ms (missed cycles : 6). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.811509 ms (missed cycles : 6).[0m ×2 + 10.04sWARNcontroller_managerOverrun might occur, Total time : 8330.993 us (Expected < 1666.667 us) --> Read time : 74.443 us, Update time : 7808.749 us, Write time : 447.801 us + 10.04sWARNros2_control_nodeOverrun might occur, Total time : 8330.993 us (Expected < 1666.667 us) --> Read time : 74.443 us, Update time : 7808.749 us, Write time : 447.801 us[0m ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954765 ms (missed cycles : 3). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954765 ms (missed cycles : 3).[0m ×2 + 11.04sWARNcontroller_managerOverrun might occur, Total time : 2258.797 us (Expected < 1666.667 us) --> Read time : 145.207 us, Update time : 1774.474 us, Write time : 339.116 us + 11.04sWARNros2_control_nodeOverrun might occur, Total time : 2258.797 us (Expected < 1666.667 us) --> Read time : 145.207 us, Update time : 1774.474 us, Write time : 339.116 us[0m ×2 + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635254 ms (missed cycles : 4). + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635254 ms (missed cycles : 4).[0m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739905 ms (missed cycles : 3). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739905 ms (missed cycles : 3).[0m ×2 + 12.47sWARNcontroller_managerOverrun might occur, Total time : 1670.499 us (Expected < 1666.667 us) --> Read time : 128.787 us, Update time : 1185.525 us, Write time : 356.187 us + 12.47sWARNros2_control_nodeOverrun might occur, Total time : 1670.499 us (Expected < 1666.667 us) --> Read time : 128.787 us, Update time : 1185.525 us, Write time : 356.187 us[0m ×2 + 13.23sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780499250.78945804 seconds ×3 + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.135508 ms (missed cycles : 8). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.135508 ms (missed cycles : 8).[0m ×2 + 13.78sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780499251.34266567 seconds. ×3 + 13.86sWARNcontroller_managerOverrun might occur, Total time : 2738.929 us (Expected < 1666.667 us) --> Read time : 130.066 us, Update time : 2207.564 us, Write time : 401.299 us + 13.86sWARNros2_control_nodeOverrun might occur, Total time : 2738.929 us (Expected < 1666.667 us) --> Read time : 130.066 us, Update time : 2207.564 us, Write time : 401.299 us[0m ×2 + 13.89sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 13.89sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 13.90sINFOros2_control_node[2026-06-03 15:07:31.467] [info] Received new action goal ×2 + 13.91sINFOros2_control_node[2026-06-03 15:07:31.467] [info] Accepted new action goal ×2 + 14.16sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/preview_solution" + 14.16sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/preview_solution"[0m ×2 + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866273 ms (missed cycles : 3). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866273 ms (missed cycles : 3).[0m ×2 + 15.09sWARNcontroller_managerOverrun might occur, Total time : 2153.042 us (Expected < 1666.667 us) --> Read time : 121.556 us, Update time : 1658.308 us, Write time : 373.178 us + 15.10sWARNros2_control_nodeOverrun might occur, Total time : 2153.042 us (Expected < 1666.667 us) --> Read time : 121.556 us, Update time : 1658.308 us, Write time : 373.178 us[0m ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.883751 ms (missed cycles : 7). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.883751 ms (missed cycles : 7).[0m ×2 + 15.83sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.18sWARNcontroller_managerOverrun might occur, Total time : 2845.665 us (Expected < 1666.667 us) --> Read time : 108.895 us, Update time : 2415.825 us, Write time : 320.945 us + 16.19sWARNros2_control_nodeOverrun might occur, Total time : 2845.665 us (Expected < 1666.667 us) --> Read time : 108.895 us, Update time : 2415.825 us, Write time : 320.945 us[0m ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532517 ms (missed cycles : 3). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532517 ms (missed cycles : 3).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	10.2s	59 errors · 51 warnings · 296 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012153 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012153 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2_control_node[2026-06-03 15:07:53.389] [info] Got request to cancel active goal. ×2 + 0.42sINFOros2_control_node[2026-06-03 15:07:53.389] [info] Canceling active goal... ×2 + 0.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780499273.39461827 seconds ×3 + 0.47sWARNcontroller_managerOverrun might occur, Total time : 1886.468 us (Expected < 1666.667 us) --> Read time : 183.608 us, Update time : 1378.425 us, Write time : 324.435 us + 0.47sWARNros2_control_nodeOverrun might occur, Total time : 1886.468 us (Expected < 1666.667 us) --> Read time : 183.608 us, Update time : 1378.425 us, Write time : 324.435 us[0m ×2 + 0.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.49sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498100 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498100 ms (missed cycles : 3).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780499274.01740408 seconds. ×3 + 1.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780499274.41754675 seconds ×3 + 1.45sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event" + 1.45sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event"[0m ×2 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 4109.451 us (Expected < 1666.667 us) --> Read time : 140.366 us, Update time : 3505.483 us, Write time : 463.602 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 4109.451 us (Expected < 1666.667 us) --> Read time : 140.366 us, Update time : 3505.483 us, Write time : 463.602 us[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780499274.96084571 seconds. ×3 + 1.99sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 1.99sINFOobjective_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 + 1.99sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 1.99sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780499274.96242285 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844357 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844357 ms (missed cycles : 3).[0m ×2 + 2.45sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.45sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg" + 2.46sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.46sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg"[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780499275.50927019 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780499275.50969124 seconds ×3 + 2.96sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String) + 2.96sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 3.01sWARNcontroller_managerOverrun might occur, Total time : 6313.296 us (Expected < 1666.667 us) --> Read time : 164.228 us, Update time : 5709.578 us, Write time : 439.490 us + 3.01sWARNros2_control_nodeOverrun might occur, Total time : 6313.296 us (Expected < 1666.667 us) --> Read time : 164.228 us, Update time : 5709.578 us, Write time : 439.490 us[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309294 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309294 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780499276.06202817 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780499276.37216783 seconds ×3 + 3.42sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573708 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573708 ms (missed cycles : 3).[0m ×2 + 4.13sWARNcontroller_managerOverrun might occur, Total time : 4469.729 us (Expected < 1666.667 us) --> Read time : 130.446 us, Update time : 3911.203 us, Write time : 428.080 us + 4.13sWARNros2_control_nodeOverrun might occur, Total time : 4469.729 us (Expected < 1666.667 us) --> Read time : 130.446 us, Update time : 3911.203 us, Write time : 428.080 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.959167 ms (missed cycles : 6). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.959167 ms (missed cycles : 6).[0m ×2 + 5.94sWARNcontroller_managerOverrun might occur, Total time : 9334.257 us (Expected < 1666.667 us) --> Read time : 152.057 us, Update time : 8692.147 us, Write time : 490.053 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 9334.257 us (Expected < 1666.667 us) --> Read time : 152.057 us, Update time : 8692.147 us, Write time : 490.053 us[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763388 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763388 ms (missed cycles : 3).[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375722 ms (missed cycles : 4). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375722 ms (missed cycles : 4).[0m ×2 + 7.70sWARNcontroller_managerOverrun might occur, Total time : 6199.890 us (Expected < 1666.667 us) --> Read time : 196.669 us, Update time : 5481.386 us, Write time : 521.835 us + 7.70sWARNros2_control_nodeOverrun might occur, Total time : 6199.890 us (Expected < 1666.667 us) --> Read time : 196.669 us, Update time : 5481.386 us, Write time : 521.835 us[0m ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345743 ms (missed cycles : 2). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345743 ms (missed cycles : 2).[0m ×2 + 8.93sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 8.93sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 8.93sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 8.93sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 8.94sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 8.94sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 8.94sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 8.94sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] ×2 + 8.95sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 8.95sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 8.95sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 8.95sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] ×2 + 8.96sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 8.96sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 8.97sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 8.97sWARNcontroller_managerOverrun might occur, Total time : 2550.859 us (Expected < 1666.667 us) --> Read time : 132.536 us, Update time : 2035.915 us, Write time : 382.408 us + 8.97sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] ×2 + 8.98sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] ×2 + 8.99sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] ×2 + 8.99sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 9.00sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 9.01sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.01sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 9.02sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 9.03sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 9.03sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.04sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 9.04sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 9.06sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 9.06sINFOcontroller_managerShutdown request received.... + 9.06sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.06sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 9.06sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 9.06sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.06sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 9.06sWARNros2_control_nodeOverrun might occur, Total time : 2550.859 us (Expected < 1666.667 us) --> Read time : 132.536 us, Update time : 2035.915 us, Write time : 382.408 us[0m ×2 + 9.06sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 9.06sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.06sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.06sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.06sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.06sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.06sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.06sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.06sINFOcontroller_managerShutting down the controller manager. + 9.06sINFOfoxglove_bridgeShutting down foxglove_bridge[0m ×2 + 9.06sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 9.06sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 9.06sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 9.06sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 9.06sINFOui_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 + 9.06sINFOui_teleop_bridgerclpy.shutdown() ×2 + 9.06sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 9.06sINFOui_teleop_bridge_shutdown(context=context) ×2 + 9.06sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 9.06sINFOui_teleop_bridgecontext.shutdown() ×2 + 9.06sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 9.06sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 9.06sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 9.06sINFOfoxglove_bridgeShutdown complete[0m ×2 + 9.06sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 9.06sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 9.06sERRORmove_groupStack trace (most recent call last) in thread 25450: ×2 + 9.06sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.06sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff062163a63, in __clone ×2 + 9.06sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff0620d6aa3, in ×2 + 9.06sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff062366db3, in ×2 + 9.06sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.06sINFOros2_control_nodeShutdown request received....[0m ×2 + 9.06sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 9.06sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.06sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.06sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.0", at 0x7ff0629bd18a, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 9.06sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 9.06sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 9.06sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 9.06sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff0626db4d0, in rclcpp::Rate::sleep() ×2 + 9.07sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff06262ea88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 9.07sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff0625f3a71, in ×2 + 9.07sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.07sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.07sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 9.07sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 9.07sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 9.07sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 9.07sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 9.07sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 9.07sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 9.07sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 9.07sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 9.07sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff062335390, in __cxa_throw ×2 + 9.07sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff06231fa54, in std::terminate() ×2 + 9.07sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff0623350d9, in ×2 + 9.07sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 9.07sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×4 + 9.07sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff06231fff4, in ×2 + 9.07sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff0620628fe, in abort ×2 + 9.07sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff06207f27d, in raise ×2 + 9.07sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff0620d8b2c, in pthread_kill ×2 + 9.07sERRORmove_groupAborted (Signal sent by tkill() 25161 0) ×2 + 9.08sERRORmove_group-9process has died [pid 25161, 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_r_87hkfq --params-file /tmp/launch_params_o_6ux_3z --params-file /tmp/launch_params_j0zgtl92 --params-file /tmp/launch_params_9xfrlra5 --params-file /tmp/launch_params_e_jtngts --params-file /tmp/launch_params_72o4vgta --params-file /tmp/launch_params_t97opwxm --params-file /tmp/launch_params_whimwse8 --params-file /tmp/launch_params_4lkjfhd2']. ×2 + 9.16sINFOobjective_server_node[0;m[2026-06-03 15:08:02.133] [moveit_pro_license] [info] ×2 + 9.16sINFOobjective_server_node************************************************* ×4 + 9.16sINFOobjective_server_node* MoveIt Pro License ×2 + 9.16sINFOobjective_server_node* Application has successfully terminated ×2 + 9.18sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 9.18sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 9.18sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 9.22sINFOobjective_server_nodecorrupted double-linked list ×2 + 9.22sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 9.24sINFOobjective_server_node#20 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.24sINFOobjective_server_node#19 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c2ffedd6a4, in _start ×2 + 9.24sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fef0a40128a, in __libc_start_main ×2 + 9.24sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fef0a4011d0, in ×2 + 9.24sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fef0a41ebbd, in exit ×2 + 9.24sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fef0a41ea75, in ×2 + 9.24sINFOobjective_server_node#14 Object "/opt/overlay_ws/install/moveit_pro_ml/lib/libmoveit_pro_ml.so", at 0x7feec8ac81a3, in Ort::detail::Base<OrtEnv>::~Base() ×2 + 9.24sINFOobjective_server_node#13 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7feebaeb9144, in ×2 + 9.24sINFOobjective_server_node#12 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7feebaf1d721, in ×2 + 9.24sINFOobjective_server_node#11 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7feebb577cf6, in ×2 + 9.24sINFOobjective_server_node#10 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7feebb577bf1, in ×2 + 9.24sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fef0a484dcd, in __libc_free ×2 + 9.24sINFOobjective_server_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fef0a482439, in ×2 + 9.24sINFOobjective_server_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fef0a481da4, in ×2 + 9.24sINFOobjective_server_node#6 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fef0a480cd9, in ×2 + 9.24sINFOobjective_server_node#5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fef0a480b7b, in ×2 + 9.24sINFOobjective_server_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fef0a47fff4, in ×2 + 9.24sINFOobjective_server_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fef0a4007b5, in ×2 + 9.24sINFOobjective_server_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fef0a3ff8fe, in abort ×2 + 9.24sINFOobjective_server_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fef0a41c27d, in raise ×2 + 9.24sINFOobjective_server_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fef0a475b2c, in pthread_kill ×2 + 9.24sERRORobjective_server_nodeAborted (Signal sent by tkill() 25166 0) ×2 + 9.79sERRORobjective_server_node_main-14process has died [pid 25166, exit code -6, 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_fqcqvg4g --params-file /tmp/launch_params_wz60ufg8 --params-file /tmp/launch_params_l16pcg1i --params-file /tmp/launch_params_fwirwqja --params-file /tmp/launch_params_hf8u_ehs --params-file /tmp/launch_params_extz3uqf']. ×2 + 9.79sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 9.79sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 10.00sINFOweb_video_server-20process has finished cleanly [pid 25290] ×2 + 10.02sINFOtf2_web_republisher_node-19process has finished cleanly [pid 25171] ×2 + 10.02sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system ×2 + 10.05sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 25165] ×2 + 10.06sINFOmove_joint_resampler_node-12process has finished cleanly [pid 25164] ×2 + 10.09sINFOparameter_manager_node-10process has finished cleanly [pid 25162] ×2 + 10.09sINFOexecute_objective_bridge-16process has finished cleanly [pid 25168] ×2 + 10.09sERRORui_teleop_bridge-17process has died [pid 25169, 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_sddtx9hs']. ×2 + 10.10sINFOwaypoint_manager_node-11process has finished cleanly [pid 25163] ×2 + 11.14sINFOfoxglove_bridge-18process has finished cleanly [pid 25170] ×2 + 11.14sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system ×2 + 11.16sINFOcomponent_container_mt-15process has finished cleanly [pid 25167] ×2 + 11.68sINFOros2_control_node-1process has finished cleanly [pid 25135] ×2
✓ passed	ML Find Objects on Table	ml_find_objects_on_table.xml	7.0s	75 warnings · 167 info
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780499045.73946500 seconds. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.06sWARNcontroller_managerOverrun might occur, Total time : 2837.675 us (Expected < 1666.667 us) --> Read time : 119.636 us, Update time : 2337.181 us (Switch time : 2312.559 us (Switch chained mode time : 0.630 us, perform mode change time : 2.190 us, Activation time : 2304.909 us, Deactivation time : 0.200 us)), Write time : 380.858 us + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986037 ms (missed cycles : 2). + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.06sWARNros2_control_nodeOverrun might occur, Total time : 2837.675 us (Expected < 1666.667 us) --> Read time : 119.636 us, Update time : 2337.181 us (Switch time : 2312.559 us (Switch chained mode time : 0.630 us, perform mode change time : 2.190 us, Activation time : 2304.909 us, Deactivation time : 0.200 us)), Write time : 380.858 us[0m ×2 + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986037 ms (missed cycles : 2).[0m ×2 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780499045.79959917 seconds ×3 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.69sWARNcontroller_managerOverrun might occur, Total time : 6137.682 us (Expected < 1666.667 us) --> Read time : 131.727 us, Update time : 5531.113 us, Write time : 474.842 us + 0.69sWARNros2_control_nodeOverrun might occur, Total time : 6137.682 us (Expected < 1666.667 us) --> Read time : 131.727 us, Update time : 5531.113 us, Write time : 474.842 us[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780499046.46917892 seconds. ×3 + 0.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.84sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 0.84sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 0.86sINFOros2_control_node[2026-06-03 15:04:06.593] [info] Received new action goal ×2 + 0.86sINFOros2_control_node[2026-06-03 15:04:06.593] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947077 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947077 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1917.302 us (Expected < 1666.667 us) --> Read time : 90.645 us, Update time : 1506.821 us, Write time : 319.836 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1917.302 us (Expected < 1666.667 us) --> Read time : 90.645 us, Update time : 1506.821 us, Write time : 319.836 us[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.326941 ms (missed cycles : 7). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.326941 ms (missed cycles : 7).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780499048.59932756 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415026 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415026 ms (missed cycles : 2).[0m ×2 + 3.22sWARNcontroller_managerOverrun might occur, Total time : 2670.076 us (Expected < 1666.667 us) --> Read time : 160.527 us, Update time : 2093.829 us, Write time : 415.720 us + 3.23sWARNros2_control_nodeOverrun might occur, Total time : 2670.076 us (Expected < 1666.667 us) --> Read time : 160.527 us, Update time : 2093.829 us, Write time : 415.720 us[0m ×2 + 3.41sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780499049.14607811 seconds. ×3 + 3.52sINFOros2_control_node[2026-06-03 15:04:09.259] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-06-03 15:04:09.259] [info] Accepted new action goal ×2 + 3.91sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view" + 3.91sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005009 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005009 ms (missed cycles : 2).[0m ×2 + 4.47sWARNcontroller_managerOverrun might occur, Total time : 1736.261 us (Expected < 1666.667 us) --> Read time : 146.707 us, Update time : 1330.252 us, Write time : 259.302 us + 4.47sWARNros2_control_nodeOverrun might occur, Total time : 1736.261 us (Expected < 1666.667 us) --> Read time : 146.707 us, Update time : 1330.252 us, Write time : 259.302 us[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792640 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792640 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun might occur, Total time : 1669.617 us (Expected < 1666.667 us) --> Read time : 1300.581 us, Update time : 44.411 us, Write time : 324.625 us + 5.85sWARNros2_control_nodeOverrun might occur, Total time : 1669.617 us (Expected < 1666.667 us) --> Read time : 1300.581 us, Update time : 44.411 us, Write time : 324.625 us[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.235981 ms (missed cycles : 7). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.235981 ms (missed cycles : 7).[0m ×2 + 6.99sWARNcontroller_managerOverrun might occur, Total time : 3231.073 us (Expected < 1666.667 us) --> Read time : 179.149 us, Update time : 2623.654 us, Write time : 428.270 us + 6.99sWARNros2_control_nodeOverrun might occur, Total time : 3231.073 us (Expected < 1666.667 us) --> Read time : 179.149 us, Update time : 2623.654 us, Write time : 428.270 us[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785727 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785727 ms (missed cycles : 2).[0m ×2 + 7.61sINFOobjective_server_node[0;93m2026-06-03 15:04:13.349261771 [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 + 7.61sINFOobjective_server_node[0;93m2026-06-03 15:04:13.349301663 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.01sWARNcontroller_managerOverrun might occur, Total time : 8393.579 us (Expected < 1666.667 us) --> Read time : 104.796 us, Update time : 7829.012 us, Write time : 459.771 us + 8.01sWARNros2_control_nodeOverrun might occur, Total time : 8393.579 us (Expected < 1666.667 us) --> Read time : 104.796 us, Update time : 7829.012 us, Write time : 459.771 us[0m ×2 + 8.14sINFOobjective_server_node[0;93m2026-06-03 15:04:13.880657139 [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 + 8.14sINFOobjective_server_node[0;93m2026-06-03 15:04:13.880688360 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.25sINFOobjective_server_node[0;93m2026-06-03 15:04:13.992555891 [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 + 8.26sINFOobjective_server_node[0;93m2026-06-03 15:04:13.995485800 [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 + 8.27sINFOobjective_server_node[0;93m2026-06-03 15:04:13.995527242 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150720 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150720 ms (missed cycles : 2).[0m ×2 + 8.55sINFOobjective_server_node[0;93m2026-06-03 15:04:14.290058946 [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 + 8.56sINFOobjective_server_node[0;93m2026-06-03 15:04:14.303575916 [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 + 8.56sINFOobjective_server_node[0;93m2026-06-03 15:04:14.303607298 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737360 ms (missed cycles : 5). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737360 ms (missed cycles : 5).[0m ×2 + 9.41sWARNcontroller_managerOverrun might occur, Total time : 9462.448 us (Expected < 1666.667 us) --> Read time : 132.857 us, Update time : 8812.187 us, Write time : 517.404 us + 9.42sWARNros2_control_nodeOverrun might occur, Total time : 9462.448 us (Expected < 1666.667 us) --> Read time : 132.857 us, Update time : 8812.187 us, Write time : 517.404 us[0m ×2 + 9.88sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780499055.61721468 seconds ×3 + 9.97sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 9.97sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 10.47sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780499056.20801091 seconds. ×3 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.552489 ms (missed cycles : 7). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.552489 ms (missed cycles : 7).[0m ×2 + 10.96sINFOobjective_server_node[0;93m2026-06-03 15:04:16.700892391 [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 + 10.96sINFOobjective_server_node[0;93m2026-06-03 15:04:16.700933753 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.98sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 10.98sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 10.98sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 10.98sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 11.13sWARNcontroller_managerOverrun might occur, Total time : 1731.922 us (Expected < 1666.667 us) --> Read time : 130.916 us, Update time : 1183.446 us, Write time : 417.560 us + 11.13sWARNros2_control_nodeOverrun might occur, Total time : 1731.922 us (Expected < 1666.667 us) --> Read time : 130.916 us, Update time : 1183.446 us, Write time : 417.560 us[0m ×2 + 11.45sINFOobjective_server_node[0;93m2026-06-03 15:04:17.192025562 [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 + 11.45sINFOobjective_server_node[0;93m2026-06-03 15:04:17.192057603 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 11.55sINFOobjective_server_node[0;93m2026-06-03 15:04:17.287821090 [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 + 11.55sINFOobjective_server_node[0;93m2026-06-03 15:04:17.289726080 [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 + 11.55sINFOobjective_server_node[0;93m2026-06-03 15:04:17.289744461 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.667794 ms (missed cycles : 6). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.667794 ms (missed cycles : 6).[0m ×2 + 11.87sINFOobjective_server_node[0;93m2026-06-03 15:04:17.602501170 [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 + 11.88sINFOobjective_server_node[0;93m2026-06-03 15:04:17.620600188 [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 + 11.88sINFOobjective_server_node[0;93m2026-06-03 15:04:17.620632479 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.809150 ms (missed cycles : 6). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.809150 ms (missed cycles : 6).[0m ×2 + 12.69sWARNcontroller_managerOverrun might occur, Total time : 1769.044 us (Expected < 1666.667 us) --> Read time : 760.226 us, Update time : 91.294 us, Write time : 917.524 us + 12.69sWARNros2_control_nodeOverrun might occur, Total time : 1769.044 us (Expected < 1666.667 us) --> Read time : 760.226 us, Update time : 91.294 us, Write time : 917.524 us[0m ×2 + 12.75sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780499058.49195266 seconds ×3 + 12.99sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 12.99sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 13.42sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780499059.15650511 seconds. ×3 + 13.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 13.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 13.49sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 13.49sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 13.51sINFOobjective_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 + 13.52sINFOobjective_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 + 13.62sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 13.62sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 13.64sINFOros2_control_node[2026-06-03 15:04:19.382] [info] Received new action goal ×2 + 13.64sINFOros2_control_node[2026-06-03 15:04:19.382] [info] Accepted new action goal ×2 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309644 ms (missed cycles : 3). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309644 ms (missed cycles : 3).[0m ×2
✓ passed	ML Segment Bottles from File	ml_segment_bottles_from_file.xml	2.9s	51 warnings · 109 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3231.073 us (Expected < 1666.667 us) --> Read time : 179.149 us, Update time : 2623.654 us, Write time : 428.270 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3231.073 us (Expected < 1666.667 us) --> Read time : 179.149 us, Update time : 2623.654 us, Write time : 428.270 us[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785727 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785727 ms (missed cycles : 2).[0m ×2 + 0.62sINFOobjective_server_node[0;93m2026-06-03 15:04:13.349261771 [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 + 0.62sINFOobjective_server_node[0;93m2026-06-03 15:04:13.349301663 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 8393.579 us (Expected < 1666.667 us) --> Read time : 104.796 us, Update time : 7829.012 us, Write time : 459.771 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 8393.579 us (Expected < 1666.667 us) --> Read time : 104.796 us, Update time : 7829.012 us, Write time : 459.771 us[0m ×2 + 1.15sINFOobjective_server_node[0;93m2026-06-03 15:04:13.880657139 [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 + 1.15sINFOobjective_server_node[0;93m2026-06-03 15:04:13.880688360 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.26sINFOobjective_server_node[0;93m2026-06-03 15:04:13.992555891 [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 + 1.27sINFOobjective_server_node[0;93m2026-06-03 15:04:13.995485800 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.27sINFOobjective_server_node[0;93m2026-06-03 15:04:13.995527242 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150720 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150720 ms (missed cycles : 2).[0m ×2 + 1.56sINFOobjective_server_node[0;93m2026-06-03 15:04:14.290058946 [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 + 1.57sINFOobjective_server_node[0;93m2026-06-03 15:04:14.303575916 [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 + 1.57sINFOobjective_server_node[0;93m2026-06-03 15:04:14.303607298 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737360 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737360 ms (missed cycles : 5).[0m ×2 + 2.42sWARNcontroller_managerOverrun might occur, Total time : 9462.448 us (Expected < 1666.667 us) --> Read time : 132.857 us, Update time : 8812.187 us, Write time : 517.404 us + 2.42sWARNros2_control_nodeOverrun might occur, Total time : 9462.448 us (Expected < 1666.667 us) --> Read time : 132.857 us, Update time : 8812.187 us, Write time : 517.404 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780499055.61721468 seconds ×3 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.98sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 2.98sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 3.48sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780499056.20801091 seconds. ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.552489 ms (missed cycles : 7). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.552489 ms (missed cycles : 7).[0m ×2 + 3.97sINFOobjective_server_node[0;93m2026-06-03 15:04:16.700892391 [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 + 3.97sINFOobjective_server_node[0;93m2026-06-03 15:04:16.700933753 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 3.98sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.98sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.98sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.98sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 4.14sWARNcontroller_managerOverrun might occur, Total time : 1731.922 us (Expected < 1666.667 us) --> Read time : 130.916 us, Update time : 1183.446 us, Write time : 417.560 us + 4.14sWARNros2_control_nodeOverrun might occur, Total time : 1731.922 us (Expected < 1666.667 us) --> Read time : 130.916 us, Update time : 1183.446 us, Write time : 417.560 us[0m ×2 + 4.46sINFOobjective_server_node[0;93m2026-06-03 15:04:17.192025562 [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 15:04:17.192057603 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 4.56sINFOobjective_server_node[0;93m2026-06-03 15:04:17.287821090 [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 + 4.56sINFOobjective_server_node[0;93m2026-06-03 15:04:17.289726080 [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 + 4.56sINFOobjective_server_node[0;93m2026-06-03 15:04:17.289744461 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.667794 ms (missed cycles : 6). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.667794 ms (missed cycles : 6).[0m ×2 + 4.88sINFOobjective_server_node[0;93m2026-06-03 15:04:17.602501170 [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 + 4.89sINFOobjective_server_node[0;93m2026-06-03 15:04:17.620600188 [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 + 4.89sINFOobjective_server_node[0;93m2026-06-03 15:04:17.620632479 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.809150 ms (missed cycles : 6). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.809150 ms (missed cycles : 6).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 1769.044 us (Expected < 1666.667 us) --> Read time : 760.226 us, Update time : 91.294 us, Write time : 917.524 us + 5.70sWARNros2_control_nodeOverrun might occur, Total time : 1769.044 us (Expected < 1666.667 us) --> Read time : 760.226 us, Update time : 91.294 us, Write time : 917.524 us[0m ×2 + 5.76sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780499058.49195266 seconds ×3 + 6.00sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 6.00sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780499059.15650511 seconds. ×3 + 6.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.50sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 6.50sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 6.52sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 6.53sINFOobjective_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 + 6.63sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.63sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 6.65sINFOros2_control_node[2026-06-03 15:04:19.382] [info] Received new action goal ×2 + 6.65sINFOros2_control_node[2026-06-03 15:04:19.382] [info] Accepted new action goal ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309644 ms (missed cycles : 3). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309644 ms (missed cycles : 3).[0m ×2 + 6.92sWARNcontroller_managerOverrun might occur, Total time : 6131.810 us (Expected < 1666.667 us) --> Read time : 151.967 us, Update time : 5451.748 us, Write time : 528.095 us + 6.92sWARNros2_control_nodeOverrun might occur, Total time : 6131.810 us (Expected < 1666.667 us) --> Read time : 151.967 us, Update time : 5451.748 us, Write time : 528.095 us[0m ×2 + 7.00sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 7.00sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.608203 ms (missed cycles : 7). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.608203 ms (missed cycles : 7).[0m ×2 + 8.14sWARNcontroller_managerOverrun might occur, Total time : 3884.696 us (Expected < 1666.667 us) --> Read time : 126.317 us, Update time : 3325.358 us, Write time : 433.021 us + 8.14sWARNros2_control_nodeOverrun might occur, Total time : 3884.696 us (Expected < 1666.667 us) --> Read time : 126.317 us, Update time : 3325.358 us, Write time : 433.021 us[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956502 ms (missed cycles : 2). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956502 ms (missed cycles : 2).[0m ×2 + 9.27sWARNcontroller_managerOverrun might occur, Total time : 6041.105 us (Expected < 1666.667 us) --> Read time : 140.596 us, Update time : 5441.187 us, Write time : 459.322 us + 9.28sWARNros2_control_nodeOverrun might occur, Total time : 6041.105 us (Expected < 1666.667 us) --> Read time : 140.596 us, Update time : 5441.187 us, Write time : 459.322 us[0m ×2 + 9.48sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 9.49sINFOros2_control_node[2026-06-03 15:04:22.220] [info] Received new action goal ×2 + 9.49sINFOros2_control_node[2026-06-03 15:04:22.220] [info] Accepted new action goal ×2
✓ passed	Look at Table	look_at_table.xml	2.8s	51 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5636.517 us (Expected < 1666.667 us) --> Read time : 154.257 us, Update time : 5021.968 us, Write time : 460.292 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5636.517 us (Expected < 1666.667 us) --> Read time : 154.257 us, Update time : 5021.968 us, Write time : 460.292 us[0m ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935268 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935268 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun might occur, Total time : 1727.222 us (Expected < 1666.667 us) --> Read time : 258.802 us, Update time : 483.743 us, Write time : 984.677 us + 1.19sWARNros2_control_nodeOverrun might occur, Total time : 1727.222 us (Expected < 1666.667 us) --> Read time : 258.802 us, Update time : 483.743 us, Write time : 984.677 us[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102683 ms (missed cycles : 5). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102683 ms (missed cycles : 5).[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780499045.18762875 seconds ×3 + 2.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780499045.73946500 seconds. ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sWARNcontroller_managerOverrun might occur, Total time : 2837.675 us (Expected < 1666.667 us) --> Read time : 119.636 us, Update time : 2337.181 us (Switch time : 2312.559 us (Switch chained mode time : 0.630 us, perform mode change time : 2.190 us, Activation time : 2304.909 us, Deactivation time : 0.200 us)), Write time : 380.858 us + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986037 ms (missed cycles : 2). + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sWARNros2_control_nodeOverrun might occur, Total time : 2837.675 us (Expected < 1666.667 us) --> Read time : 119.636 us, Update time : 2337.181 us (Switch time : 2312.559 us (Switch chained mode time : 0.630 us, perform mode change time : 2.190 us, Activation time : 2304.909 us, Deactivation time : 0.200 us)), Write time : 380.858 us[0m ×2 + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986037 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780499045.79959917 seconds ×3 + 3.29sWARNcontroller_managerOverrun might occur, Total time : 6137.682 us (Expected < 1666.667 us) --> Read time : 131.727 us, Update time : 5531.113 us, Write time : 474.842 us + 3.29sWARNros2_control_nodeOverrun might occur, Total time : 6137.682 us (Expected < 1666.667 us) --> Read time : 131.727 us, Update time : 5531.113 us, Write time : 474.842 us[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780499046.46917892 seconds. ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 3.44sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.46sINFOros2_control_node[2026-06-03 15:04:06.593] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-06-03 15:04:06.593] [info] Accepted new action goal ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947077 ms (missed cycles : 5). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947077 ms (missed cycles : 5).[0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1917.302 us (Expected < 1666.667 us) --> Read time : 90.645 us, Update time : 1506.821 us, Write time : 319.836 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 1917.302 us (Expected < 1666.667 us) --> Read time : 90.645 us, Update time : 1506.821 us, Write time : 319.836 us[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.326941 ms (missed cycles : 7). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.326941 ms (missed cycles : 7).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780499048.59932756 seconds ×3 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415026 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415026 ms (missed cycles : 2).[0m ×2 + 5.82sWARNcontroller_managerOverrun might occur, Total time : 2670.076 us (Expected < 1666.667 us) --> Read time : 160.527 us, Update time : 2093.829 us, Write time : 415.720 us + 5.83sWARNros2_control_nodeOverrun might occur, Total time : 2670.076 us (Expected < 1666.667 us) --> Read time : 160.527 us, Update time : 2093.829 us, Write time : 415.720 us[0m ×2 + 6.01sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780499049.14607811 seconds. ×3 + 6.12sINFOros2_control_node[2026-06-03 15:04:09.259] [info] Received new action goal ×2 + 6.12sINFOros2_control_node[2026-06-03 15:04:09.259] [info] Accepted new action goal ×2 + 6.51sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view" + 6.51sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005009 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005009 ms (missed cycles : 2).[0m ×2 + 7.07sWARNcontroller_managerOverrun might occur, Total time : 1736.261 us (Expected < 1666.667 us) --> Read time : 146.707 us, Update time : 1330.252 us, Write time : 259.302 us + 7.07sWARNros2_control_nodeOverrun might occur, Total time : 1736.261 us (Expected < 1666.667 us) --> Read time : 146.707 us, Update time : 1330.252 us, Write time : 259.302 us[0m ×2 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792640 ms (missed cycles : 3). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792640 ms (missed cycles : 3).[0m ×2 + 8.45sWARNcontroller_managerOverrun might occur, Total time : 1669.617 us (Expected < 1666.667 us) --> Read time : 1300.581 us, Update time : 44.411 us, Write time : 324.625 us + 8.45sWARNros2_control_nodeOverrun might occur, Total time : 1669.617 us (Expected < 1666.667 us) --> Read time : 1300.581 us, Update time : 44.411 us, Write time : 324.625 us[0m ×2 + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.235981 ms (missed cycles : 7). + 8.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.235981 ms (missed cycles : 7).[0m ×2
✓ passed	Close Gripper	close_gripper.xml	1.7s	61 warnings · 514 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 + 0.00sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.13sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/color" + 0.13sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/color"[0m ×2 + 0.13sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/wrist_camera/camera_info" + 0.13sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/wrist_camera/depth" + 0.13sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/scene_camera/depth" + 0.13sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/color" + 0.13sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/wrist_camera/camera_info"[0m ×2 + 0.13sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/wrist_camera/depth"[0m ×2 + 0.13sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/scene_camera/depth"[0m ×2 + 0.13sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/color"[0m ×2 + 0.13sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/wrist_camera/points" + 0.13sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/wrist_camera/points"[0m ×2 + 0.14sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/description" + 0.14sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/description"[0m ×2 + 0.14sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.14sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.14sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.14sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/statistics" + 0.14sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/statistics"[0m ×2 + 0.14sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/failure_reason_collector" + 0.14sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/points" + 0.14sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/scene_camera/camera_info" + 0.14sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/failure_reason_collector"[0m ×2 + 0.14sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/points"[0m ×2 + 0.14sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/scene_camera/camera_info"[0m ×2 + 0.21sINFOobjective_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 + 0.21sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.22sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.22sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.22sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.22sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.22sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.22sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.22sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.22sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.25sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 0.25sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 0.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.27sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.27sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' ×2 + 0.27sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×4 + 0.28sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 0.30sINFOros2_control_node[2026-06-03 15:02:37.464] [info] Controller state will be published at 10 Hz. ×2 + 0.30sINFOros2_control_node[2026-06-03 15:02:37.464] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215050 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215050 ms (missed cycles : 2).[0m ×2 + 0.83sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/visual_markers" + 0.84sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/visual_markers"[0m ×2 + 0.84sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/velocity_force_controller/transition_event" + 0.84sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/velocity_force_controller/transition_event"[0m ×2 + 0.84sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/command" + 0.85sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/command"[0m ×2 + 0.85sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/transient_monitored_planning_scene_without_octomap" + 0.85sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/transient_monitored_planning_scene_without_octomap"[0m ×2 + 0.85sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/velocity_force_controller/controller_state" + 0.85sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/blackboard_contents" + 0.85sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/velocity_force_controller/controller_state"[0m ×2 + 0.85sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/blackboard_contents"[0m ×2 + 0.85sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/behavior_tree_status" + 0.85sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/behavior_tree_status"[0m ×2 + 0.93sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.03sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.07sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.07sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 1.11sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.12sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.12sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 1.12sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 1.12sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 1.12sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 1.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 1.19sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 1.23sINFOmove_group ×4 + 1.23sINFOmove_group[92mYou can start planning now![0m ×2 + 1.39sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.39sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.39sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.39sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.43sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/trajectory_execution_event" + 1.43sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/trajectory_execution_event"[0m ×2 + 1.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 1.46sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 1.49sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.49sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.49sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.52sINFOros2_control_node[2026-06-03 15:02:38.687] [info] Controller state will be published at 20 Hz. ×2 + 1.52sINFOros2_control_node[2026-06-03 15:02:38.687] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050005 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050005 ms (missed cycles : 2).[0m ×2 + 1.73sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 1.86sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.86sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.86sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.86sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.86sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 1.86sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 1.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 25145] ×2 + 1.90sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.90sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.90sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.91sINFOforce_torque_sensor_broadcasterconfigure successful + 1.91sINFOros2_control_nodeconfigure successful[0m ×2 + 1.91sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.91sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×7 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 1.91sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 2.03sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/controller_state" + 2.03sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/command" + 2.03sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 2.03sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/command"[0m ×2 + 2.03sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench" + 2.03sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/transition_event" + 2.03sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event" + 2.03sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 2.03sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 2.03sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 2.03sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 2.03sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 2.18sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.18sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.18sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.18sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.19sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 2.19sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 2.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 25136] ×2 + 2.22sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.22sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.22sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.22sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.22sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.22sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 2.22sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.22sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.22sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.22sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.22sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 2.23sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.23sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.24sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 2.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 25138] ×2 + 2.55sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.55sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.56sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.56sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.56sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 2.56sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 2.57sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.57sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.58sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/robotiq_gripper_controller/transition_event" + 2.58sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_state_broadcaster/transition_event" + 2.58sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 2.58sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 2.58sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/dynamic_joint_states" + 2.58sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/dynamic_joint_states"[0m ×2 + 2.61sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 2.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 2.61sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.61sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.61sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.61sWARNcontroller_managerOverrun might occur, Total time : 3850.753 us (Expected < 1666.667 us) --> Read time : 150.297 us, Update time : 3396.881 us (Switch time : 3368.930 us (Switch chained mode time : 0.650 us, perform mode change time : 5.080 us, Activation time : 3359.049 us, Deactivation time : 0.390 us)), Write time : 303.575 us + 2.62sWARNros2_control_nodeOverrun might occur, Total time : 3850.753 us (Expected < 1666.667 us) --> Read time : 150.297 us, Update time : 3396.881 us (Switch time : 3368.930 us (Switch chained mode time : 0.650 us, perform mode change time : 5.080 us, Activation time : 3359.049 us, Deactivation time : 0.390 us)), Write time : 303.575 us[0m ×2 + 2.62sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 2.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780498959.82932377 seconds. ×3 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780498959.83955288 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872570 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872570 ms (missed cycles : 2).[0m ×2 + 2.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 25137] ×2 + 2.95sWARNspawner_velocity_force_controllerController already loaded, skipping load_controller + 2.95sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerController already loaded, skipping load_controller ×2 + 2.98sINFOros2_control_node[2026-06-03 15:02:40.147] [info] Controller state will be published at 10 Hz. ×2 + 2.99sINFOros2_control_node[2026-06-03 15:02:40.149] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.17sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event" + 3.17sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event"[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780498960.38151026 seconds. ×3 + 3.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 3.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 3.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 25144] ×2 + 3.42sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 3.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 3.42sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.42sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.42sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.42sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.42sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 3.42sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.42sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.42sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.43sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 3.43sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.43sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 3.43sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 3.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 3.67sINFOfoxglove_bridgeRemoving channel 59 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.67sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/transition_event" + 3.68sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/speed_scaling_input" + 3.68sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/joint_trajectory" + 3.68sINFOfoxglove_bridgeRemoving channel 59 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.68sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 3.68sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 3.68sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 3.69sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_controller/controller_state" + 3.69sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 3.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 25140] ×2 + 3.74sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380272 ms (missed cycles : 4). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380272 ms (missed cycles : 4).[0m ×2 + 4.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.10sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 4.10sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 4.11sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 4.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 4.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.11sINFOros2_control_node[2026-06-03 15:02:41.276] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.11sINFOros2_control_node[2026-06-03 15:02:41.276] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.15sINFOros2_control_node[2026-06-03 15:02:41.308] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.15sINFOros2_control_node[2026-06-03 15:02:41.309] [info] Controller state will be published at 50 Hz. ×2 + 4.15sINFOros2_control_node[2026-06-03 15:02:41.318] [info] Registered `FollowJointTrajectory` action server. ×2 + 4.22sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/transition_event" + 4.22sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_trajectory_admittance_controller/controller_state" + 4.22sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 4.22sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 4.31sWARNcontroller_managerOverrun might occur, Total time : 3164.420 us (Expected < 1666.667 us) --> Read time : 123.336 us, Update time : 62.313 us, Write time : 2978.771 us + 4.31sWARNros2_control_nodeOverrun might occur, Total time : 3164.420 us (Expected < 1666.667 us) --> Read time : 123.336 us, Update time : 62.313 us, Write time : 2978.771 us[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780498961.49164915 seconds ×3 + 4.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 25142] ×2 + 4.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 5.44sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 6.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 6.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 6.74sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 6.74sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 7.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 7.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 7.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 7.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.84sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.84sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.86sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 7.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 7.86sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 7.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.88sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 7.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.88sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 7.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 8.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 8.49sINFOobjective_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 + 8.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2
✓ passed	Open Gripper	open_gripper.xml	1.6s	60 warnings · 357 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050005 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050005 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.13sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.13sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.13sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 0.13sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 25145] ×2 + 0.17sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.17sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.18sINFOforce_torque_sensor_broadcasterconfigure successful + 0.18sINFOros2_control_nodeconfigure successful[0m ×2 + 0.18sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.18sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.18sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/controller_state" + 0.30sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/command" + 0.30sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/command"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench" + 0.30sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.30sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event" + 0.30sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 0.30sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 0.30sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.45sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.45sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 0.46sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 25136] ×2 + 0.49sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.49sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.49sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.49sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.49sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.49sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.49sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.49sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.49sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.50sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.51sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 25138] ×2 + 0.83sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.83sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.83sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.83sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 0.83sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 0.84sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.84sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.85sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/robotiq_gripper_controller/transition_event" + 0.85sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_state_broadcaster/transition_event" + 0.85sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 0.85sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 0.86sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/dynamic_joint_states" + 0.86sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/dynamic_joint_states"[0m ×2 + 0.88sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 0.88sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.88sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.88sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.88sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.89sWARNcontroller_managerOverrun might occur, Total time : 3850.753 us (Expected < 1666.667 us) --> Read time : 150.297 us, Update time : 3396.881 us (Switch time : 3368.930 us (Switch chained mode time : 0.650 us, perform mode change time : 5.080 us, Activation time : 3359.049 us, Deactivation time : 0.390 us)), Write time : 303.575 us + 0.89sWARNros2_control_nodeOverrun might occur, Total time : 3850.753 us (Expected < 1666.667 us) --> Read time : 150.297 us, Update time : 3396.881 us (Switch time : 3368.930 us (Switch chained mode time : 0.650 us, perform mode change time : 5.080 us, Activation time : 3359.049 us, Deactivation time : 0.390 us)), Write time : 303.575 us[0m ×2 + 0.89sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 0.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 0.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780498959.82932377 seconds. ×3 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780498959.83955288 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872570 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872570 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 25137] ×2 + 1.22sWARNspawner_velocity_force_controllerController already loaded, skipping load_controller + 1.22sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerController already loaded, skipping load_controller ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.22sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.26sINFOros2_control_node[2026-06-03 15:02:40.147] [info] Controller state will be published at 10 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-03 15:02:40.149] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event" + 1.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event"[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780498960.38151026 seconds. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.63sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.63sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.63sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.63sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.63sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 1.63sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 1.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 25144] ×2 + 1.69sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.69sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.69sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.69sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.69sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.69sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.69sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.69sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.70sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.70sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.70sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.70sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.71sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 1.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 1.94sINFOfoxglove_bridgeRemoving channel 59 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.94sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/transition_event" + 1.95sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/speed_scaling_input" + 1.95sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/joint_trajectory" + 1.95sINFOfoxglove_bridgeRemoving channel 59 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 1.95sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 1.95sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 1.95sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 1.96sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_controller/controller_state" + 1.96sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 2.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 25140] ×2 + 2.01sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380272 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380272 ms (missed cycles : 4).[0m ×2 + 2.27sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.27sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.27sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.37sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g + 2.37sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mefma7v1 --params-file /tmp/launch_params_qcywpjru --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__lnha7wj --params-file /tmp/launch_params_w864m8_g [0m ×2 + 2.38sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 2.38sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.38sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.38sINFOros2_control_node[2026-06-03 15:02:41.276] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.38sINFOros2_control_node[2026-06-03 15:02:41.276] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.42sINFOros2_control_node[2026-06-03 15:02:41.308] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.42sINFOros2_control_node[2026-06-03 15:02:41.309] [info] Controller state will be published at 50 Hz. ×2 + 2.43sINFOros2_control_node[2026-06-03 15:02:41.318] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.49sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/transition_event" + 2.49sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_trajectory_admittance_controller/controller_state" + 2.49sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 2.49sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 2.58sWARNcontroller_managerOverrun might occur, Total time : 3164.420 us (Expected < 1666.667 us) --> Read time : 123.336 us, Update time : 62.313 us, Write time : 2978.771 us + 2.58sWARNros2_control_nodeOverrun might occur, Total time : 3164.420 us (Expected < 1666.667 us) --> Read time : 123.336 us, Update time : 62.313 us, Write time : 2978.771 us[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780498961.49164915 seconds ×3 + 2.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 25142] ×2 + 3.16sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 4.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 5.01sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 5.01sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 5.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 6.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 6.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.11sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.13sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 6.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.13sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 6.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.15sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.15sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 6.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 6.76sINFOobjective_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 + 6.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.85sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 7.15sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 7.15sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 8.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.0s	3 errors · 45 warnings · 62 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4072.451 us (Expected < 1666.667 us) --> Read time : 121.086 us, Update time : 3504.874 us, Write time : 446.491 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4072.451 us (Expected < 1666.667 us) --> Read time : 121.086 us, Update time : 3504.874 us, Write time : 446.491 us[0m ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088016 ms (missed cycles : 4). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088016 ms (missed cycles : 4).[0m ×2 + 1.31sWARNcontroller_managerOverrun might occur, Total time : 4984.953 us (Expected < 1666.667 us) --> Read time : 148.907 us, Update time : 4423.577 us, Write time : 412.469 us + 1.32sWARNros2_control_nodeOverrun might occur, Total time : 4984.953 us (Expected < 1666.667 us) --> Read time : 148.907 us, Update time : 4423.577 us, Write time : 412.469 us[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212019 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212019 ms (missed cycles : 2).[0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012153 ms (missed cycles : 2). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012153 ms (missed cycles : 2).[0m ×2 + 2.94sINFOros2_control_node[2026-06-03 15:07:53.389] [info] Got request to cancel active goal. ×2 + 2.94sINFOros2_control_node[2026-06-03 15:07:53.389] [info] Canceling active goal... ×2 + 2.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780499273.39461827 seconds ×3 + 2.99sWARNcontroller_managerOverrun might occur, Total time : 1886.468 us (Expected < 1666.667 us) --> Read time : 183.608 us, Update time : 1378.425 us, Write time : 324.435 us + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 1886.468 us (Expected < 1666.667 us) --> Read time : 183.608 us, Update time : 1378.425 us, Write time : 324.435 us[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498100 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498100 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780499274.01740408 seconds. ×3 + 3.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780499274.41754675 seconds ×3 + 3.97sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event" + 3.97sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event"[0m ×2 + 4.37sWARNcontroller_managerOverrun might occur, Total time : 4109.451 us (Expected < 1666.667 us) --> Read time : 140.366 us, Update time : 3505.483 us, Write time : 463.602 us + 4.37sWARNros2_control_nodeOverrun might occur, Total time : 4109.451 us (Expected < 1666.667 us) --> Read time : 140.366 us, Update time : 3505.483 us, Write time : 463.602 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780499274.96084571 seconds. ×3 + 4.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.51sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780499274.96242285 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844357 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844357 ms (missed cycles : 3).[0m ×2 + 4.98sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.98sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg" + 4.98sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.98sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg"[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780499275.50927019 seconds. ×3 + 5.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780499275.50969124 seconds ×3 + 5.48sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String) + 5.49sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 5.53sWARNcontroller_managerOverrun might occur, Total time : 6313.296 us (Expected < 1666.667 us) --> Read time : 164.228 us, Update time : 5709.578 us, Write time : 439.490 us + 5.53sWARNros2_control_nodeOverrun might occur, Total time : 6313.296 us (Expected < 1666.667 us) --> Read time : 164.228 us, Update time : 5709.578 us, Write time : 439.490 us[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309294 ms (missed cycles : 4). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309294 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780499276.06202817 seconds. ×3 + 5.92sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780499276.37216783 seconds ×3 + 5.95sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573708 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573708 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 4469.729 us (Expected < 1666.667 us) --> Read time : 130.446 us, Update time : 3911.203 us, Write time : 428.080 us + 6.66sWARNros2_control_nodeOverrun might occur, Total time : 4469.729 us (Expected < 1666.667 us) --> Read time : 130.446 us, Update time : 3911.203 us, Write time : 428.080 us[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.959167 ms (missed cycles : 6). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.959167 ms (missed cycles : 6).[0m ×2
✓ passed	Add Table to Planning Scene	add_table_to_planning_scene.xml	0.7s	3 errors · 36 warnings · 49 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957264 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957264 ms (missed cycles : 3).[0m ×2 + 0.27sWARNcontroller_managerOverrun might occur, Total time : 3461.014 us (Expected < 1666.667 us) --> Read time : 2960.361 us, Update time : 67.693 us, Write time : 432.960 us + 0.27sWARNros2_control_nodeOverrun might occur, Total time : 3461.014 us (Expected < 1666.667 us) --> Read time : 2960.361 us, Update time : 67.693 us, Write time : 432.960 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886330 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886330 ms (missed cycles : 3).[0m ×2 + 1.65sWARNcontroller_managerOverrun might occur, Total time : 6122.752 us (Expected < 1666.667 us) --> Read time : 149.738 us, Update time : 5427.668 us, Write time : 545.346 us + 1.65sWARNros2_control_nodeOverrun might occur, Total time : 6122.752 us (Expected < 1666.667 us) --> Read time : 149.738 us, Update time : 5427.668 us, Write time : 545.346 us[0m ×2 + 1.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.76sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 1.76sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.77sINFOros2_control_node[2026-06-03 15:02:55.322] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-06-03 15:02:55.322] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623931 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623931 ms (missed cycles : 4).[0m ×2 + 2.34sINFOros2_control_node[2026-06-03 15:02:55.888] [info] Got request to cancel active goal. ×2 + 2.34sINFOros2_control_node[2026-06-03 15:02:55.888] [info] Canceling active goal... ×2 + 2.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780498975.90337992 seconds ×3 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 2280.149 us (Expected < 1666.667 us) --> Read time : 164.548 us, Update time : 751.616 us, Write time : 1363.985 us + 2.69sWARNros2_control_nodeOverrun might occur, Total time : 2280.149 us (Expected < 1666.667 us) --> Read time : 164.548 us, Update time : 751.616 us, Write time : 1363.985 us[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780498976.44973707 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780498976.57987142 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309450 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309450 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780498977.15401053 seconds. ×3 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.98sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.08sWARNcontroller_managerOverrun might occur, Total time : 1685.860 us (Expected < 1666.667 us) --> Read time : 111.115 us, Update time : 1288.281 us, Write time : 286.464 us + 4.08sWARNros2_control_nodeOverrun might occur, Total time : 1685.860 us (Expected < 1666.667 us) --> Read time : 111.115 us, Update time : 1288.281 us, Write time : 286.464 us[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709841 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709841 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.79sINFOros2_control_node[2026-06-03 15:02:58.337] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-06-03 15:02:58.337] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698173 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698173 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun might occur, Total time : 4853.369 us (Expected < 1666.667 us) --> Read time : 168.688 us, Update time : 4175.037 us, Write time : 509.644 us + 5.81sWARNros2_control_nodeOverrun might occur, Total time : 4853.369 us (Expected < 1666.667 us) --> Read time : 168.688 us, Update time : 4175.037 us, Write time : 509.644 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723581 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723581 ms (missed cycles : 2).[0m ×2
✓ passed	Clear Previous Obstacles	clear_previous_obstacles.xml	0.7s	39 warnings · 58 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 6023.355 us (Expected < 1666.667 us) --> Read time : 142.757 us, Update time : 5458.298 us, Write time : 422.300 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 6023.355 us (Expected < 1666.667 us) --> Read time : 142.757 us, Update time : 5458.298 us, Write time : 422.300 us[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101474 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101474 ms (missed cycles : 2).[0m ×2 + 0.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.535305 ms (missed cycles : 7). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.535305 ms (missed cycles : 7).[0m ×2 + 1.26sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.26sINFOros2_control_node[2026-06-03 15:03:18.697] [info] Received new action goal ×2 + 1.26sINFOros2_control_node[2026-06-03 15:03:18.697] [info] Accepted new action goal ×2 + 1.38sWARNcontroller_managerOverrun might occur, Total time : 2590.353 us (Expected < 1666.667 us) --> Read time : 270.783 us, Update time : 1983.474 us, Write time : 336.096 us + 1.39sWARNros2_control_nodeOverrun might occur, Total time : 2590.353 us (Expected < 1666.667 us) --> Read time : 270.783 us, Update time : 1983.474 us, Write time : 336.096 us[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.674158 ms (missed cycles : 6). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.674158 ms (missed cycles : 6).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780499000.08417225 seconds ×3 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 6024.636 us (Expected < 1666.667 us) --> Read time : 90.355 us, Update time : 5556.983 us, Write time : 377.298 us + 2.75sWARNros2_control_nodeOverrun might occur, Total time : 6024.636 us (Expected < 1666.667 us) --> Read time : 90.355 us, Update time : 5556.983 us, Write time : 377.298 us[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780499000.65875721 seconds. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299470 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299470 ms (missed cycles : 4).[0m ×2 + 3.31sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.31sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780499000.74392748 seconds ×3 + 3.87sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780499001.30694079 seconds. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 2434.856 us (Expected < 1666.667 us) --> Read time : 114.766 us, Update time : 1967.083 us, Write time : 353.007 us + 3.91sWARNros2_control_nodeOverrun might occur, Total time : 2434.856 us (Expected < 1666.667 us) --> Read time : 114.766 us, Update time : 1967.083 us, Write time : 353.007 us[0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.98sINFOros2_control_node[2026-06-03 15:03:21.411] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-06-03 15:03:21.411] [info] Accepted new action goal ×2 + 4.31sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.31sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478879 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478879 ms (missed cycles : 5).[0m ×2 + 5.10sWARNcontroller_managerOverrun might occur, Total time : 6020.516 us (Expected < 1666.667 us) --> Read time : 129.287 us, Update time : 5470.439 us, Write time : 420.790 us + 5.11sWARNros2_control_nodeOverrun might occur, Total time : 6020.516 us (Expected < 1666.667 us) --> Read time : 129.287 us, Update time : 5470.439 us, Write time : 420.790 us[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060940 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060940 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183714 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183714 ms (missed cycles : 2).[0m ×2 + 6.99sWARNcontroller_managerOverrun might occur, Total time : 1742.523 us (Expected < 1666.667 us) --> Read time : 182.019 us, Update time : 1237.638 us, Write time : 322.866 us + 7.00sWARNros2_control_nodeOverrun might occur, Total time : 1742.523 us (Expected < 1666.667 us) --> Read time : 182.019 us, Update time : 1237.638 us, Write time : 322.866 us[0m ×2 + 7.30sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 7.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.31sINFOros2_control_node[2026-06-03 15:03:24.743] [info] Received new action goal ×2 + 7.31sINFOros2_control_node[2026-06-03 15:03:24.743] [info] Accepted new action goal ×2
✓ passed	Reset MuJoCo Robot	reset_mujoco_robot.xml	0.6s	3 errors · 36 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548295 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548295 ms (missed cycles : 6).[0m ×2 + 0.04sWARNcontroller_managerOverrun might occur, Total time : 1813.996 us (Expected < 1666.667 us) --> Read time : 186.819 us, Update time : 1280.990 us, Write time : 346.187 us + 0.04sWARNros2_control_nodeOverrun might occur, Total time : 1813.996 us (Expected < 1666.667 us) --> Read time : 186.819 us, Update time : 1280.990 us, Write time : 346.187 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898070 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898070 ms (missed cycles : 2).[0m ×2 + 1.93sWARNcontroller_managerOverrun might occur, Total time : 2275.467 us (Expected < 1666.667 us) --> Read time : 214.480 us, Update time : 1597.875 us, Write time : 463.112 us + 1.93sWARNros2_control_nodeOverrun might occur, Total time : 2275.467 us (Expected < 1666.667 us) --> Read time : 214.480 us, Update time : 1597.875 us, Write time : 463.112 us[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797731 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797731 ms (missed cycles : 2).[0m ×2 + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780499261.50336242 seconds ×3 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.37sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780499262.12486243 seconds. ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sWARNcontroller_managerOverrun might occur, Total time : 5849.318 us (Expected < 1666.667 us) --> Read time : 267.673 us, Update time : 5101.692 us (Switch time : 4987.686 us (Switch chained mode time : 1.010 us, perform mode change time : 3.950 us, Activation time : 4977.556 us, Deactivation time : 0.430 us)), Write time : 479.953 us + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 5849.318 us (Expected < 1666.667 us) --> Read time : 267.673 us, Update time : 5101.692 us (Switch time : 4987.686 us (Switch chained mode time : 1.010 us, perform mode change time : 3.950 us, Activation time : 4977.556 us, Deactivation time : 0.430 us)), Write time : 479.953 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780499262.20500302 seconds ×3 + 3.10sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.10sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209543 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209543 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780499262.76163268 seconds. ×3 + 3.57sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780499262.79366112 seconds ×3 + 3.96sWARNcontroller_managerOverrun might occur, Total time : 3632.491 us (Expected < 1666.667 us) --> Read time : 148.456 us, Update time : 29.422 us, Write time : 3454.613 us + 3.96sWARNros2_control_nodeOverrun might occur, Total time : 3632.491 us (Expected < 1666.667 us) --> Read time : 148.456 us, Update time : 29.422 us, Write time : 3454.613 us[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780499263.33965445 seconds. ×3 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155871 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155871 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.21sINFOros2_control_node[2026-06-03 15:07:43.434] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-06-03 15:07:43.434] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096030 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096030 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun might occur, Total time : 3006.543 us (Expected < 1666.667 us) --> Read time : 147.367 us, Update time : 2539.201 us, Write time : 319.975 us + 5.34sWARNros2_control_nodeOverrun might occur, Total time : 3006.543 us (Expected < 1666.667 us) --> Read time : 147.367 us, Update time : 2539.201 us, Write time : 319.975 us[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053322 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053322 ms (missed cycles : 4).[0m ×2
✓ passed	Load MuJoCo Robot State	load_mujoco_robot_state.xml	0.6s	39 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558646 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558646 ms (missed cycles : 4).[0m ×2 + 0.43sWARNcontroller_managerOverrun might occur, Total time : 5636.517 us (Expected < 1666.667 us) --> Read time : 154.257 us, Update time : 5021.968 us, Write time : 460.292 us + 0.43sWARNros2_control_nodeOverrun might occur, Total time : 5636.517 us (Expected < 1666.667 us) --> Read time : 154.257 us, Update time : 5021.968 us, Write time : 460.292 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935268 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935268 ms (missed cycles : 3).[0m ×2 + 1.61sWARNcontroller_managerOverrun might occur, Total time : 1727.222 us (Expected < 1666.667 us) --> Read time : 258.802 us, Update time : 483.743 us, Write time : 984.677 us + 1.61sWARNros2_control_nodeOverrun might occur, Total time : 1727.222 us (Expected < 1666.667 us) --> Read time : 258.802 us, Update time : 483.743 us, Write time : 984.677 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102683 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102683 ms (missed cycles : 5).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780499045.18762875 seconds ×3 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.49sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.02sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780499045.73946500 seconds. ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sWARNcontroller_managerOverrun might occur, Total time : 2837.675 us (Expected < 1666.667 us) --> Read time : 119.636 us, Update time : 2337.181 us (Switch time : 2312.559 us (Switch chained mode time : 0.630 us, perform mode change time : 2.190 us, Activation time : 2304.909 us, Deactivation time : 0.200 us)), Write time : 380.858 us + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986037 ms (missed cycles : 2). + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sWARNros2_control_nodeOverrun might occur, Total time : 2837.675 us (Expected < 1666.667 us) --> Read time : 119.636 us, Update time : 2337.181 us (Switch time : 2312.559 us (Switch chained mode time : 0.630 us, perform mode change time : 2.190 us, Activation time : 2304.909 us, Deactivation time : 0.200 us)), Write time : 380.858 us[0m ×2 + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986037 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780499045.79959917 seconds ×3 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 6137.682 us (Expected < 1666.667 us) --> Read time : 131.727 us, Update time : 5531.113 us, Write time : 474.842 us + 3.72sWARNros2_control_nodeOverrun might occur, Total time : 6137.682 us (Expected < 1666.667 us) --> Read time : 131.727 us, Update time : 5531.113 us, Write time : 474.842 us[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780499046.46917892 seconds. ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 3.87sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.89sINFOros2_control_node[2026-06-03 15:04:06.593] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-06-03 15:04:06.593] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947077 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947077 ms (missed cycles : 5).[0m ×2 + 5.09sWARNcontroller_managerOverrun might occur, Total time : 1917.302 us (Expected < 1666.667 us) --> Read time : 90.645 us, Update time : 1506.821 us, Write time : 319.836 us + 5.10sWARNros2_control_nodeOverrun might occur, Total time : 1917.302 us (Expected < 1666.667 us) --> Read time : 90.645 us, Update time : 1506.821 us, Write time : 319.836 us[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.326941 ms (missed cycles : 7). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.326941 ms (missed cycles : 7).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780499048.59932756 seconds ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415026 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415026 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 2670.076 us (Expected < 1666.667 us) --> Read time : 160.527 us, Update time : 2093.829 us, Write time : 415.720 us + 6.25sWARNros2_control_nodeOverrun might occur, Total time : 2670.076 us (Expected < 1666.667 us) --> Read time : 160.527 us, Update time : 2093.829 us, Write time : 415.720 us[0m ×2 + 6.43sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780499049.14607811 seconds. ×3 + 6.55sINFOros2_control_node[2026-06-03 15:04:09.259] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-06-03 15:04:09.259] [info] Accepted new action goal ×2 + 6.93sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view" + 6.93sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2
✓ passed	Save Robot Joint State	save_robot_joint_state.xml	0.6s	3 errors · 36 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548295 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548295 ms (missed cycles : 6).[0m ×2 + 0.04sWARNcontroller_managerOverrun might occur, Total time : 1813.996 us (Expected < 1666.667 us) --> Read time : 186.819 us, Update time : 1280.990 us, Write time : 346.187 us + 0.04sWARNros2_control_nodeOverrun might occur, Total time : 1813.996 us (Expected < 1666.667 us) --> Read time : 186.819 us, Update time : 1280.990 us, Write time : 346.187 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898070 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898070 ms (missed cycles : 2).[0m ×2 + 1.93sWARNcontroller_managerOverrun might occur, Total time : 2275.467 us (Expected < 1666.667 us) --> Read time : 214.480 us, Update time : 1597.875 us, Write time : 463.112 us + 1.93sWARNros2_control_nodeOverrun might occur, Total time : 2275.467 us (Expected < 1666.667 us) --> Read time : 214.480 us, Update time : 1597.875 us, Write time : 463.112 us[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797731 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797731 ms (missed cycles : 2).[0m ×2 + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780499261.50336242 seconds ×3 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.37sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780499262.12486243 seconds. ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sWARNcontroller_managerOverrun might occur, Total time : 5849.318 us (Expected < 1666.667 us) --> Read time : 267.673 us, Update time : 5101.692 us (Switch time : 4987.686 us (Switch chained mode time : 1.010 us, perform mode change time : 3.950 us, Activation time : 4977.556 us, Deactivation time : 0.430 us)), Write time : 479.953 us + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 5849.318 us (Expected < 1666.667 us) --> Read time : 267.673 us, Update time : 5101.692 us (Switch time : 4987.686 us (Switch chained mode time : 1.010 us, perform mode change time : 3.950 us, Activation time : 4977.556 us, Deactivation time : 0.430 us)), Write time : 479.953 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780499262.20500302 seconds ×3 + 3.10sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.10sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209543 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209543 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780499262.76163268 seconds. ×3 + 3.57sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780499262.79366112 seconds ×3 + 3.96sWARNcontroller_managerOverrun might occur, Total time : 3632.491 us (Expected < 1666.667 us) --> Read time : 148.456 us, Update time : 29.422 us, Write time : 3454.613 us + 3.96sWARNros2_control_nodeOverrun might occur, Total time : 3632.491 us (Expected < 1666.667 us) --> Read time : 148.456 us, Update time : 29.422 us, Write time : 3454.613 us[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780499263.33965445 seconds. ×3 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155871 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155871 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.21sINFOros2_control_node[2026-06-03 15:07:43.434] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-06-03 15:07:43.434] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096030 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096030 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun might occur, Total time : 3006.543 us (Expected < 1666.667 us) --> Read time : 147.367 us, Update time : 2539.201 us, Write time : 319.975 us + 5.34sWARNros2_control_nodeOverrun might occur, Total time : 3006.543 us (Expected < 1666.667 us) --> Read time : 147.367 us, Update time : 2539.201 us, Write time : 319.975 us[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053322 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053322 ms (missed cycles : 4).[0m ×2
✓ passed	Visualize Grasp Link	visualize_grasp_link.xml	0.5s	3 errors · 42 warnings · 62 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212019 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212019 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012153 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012153 ms (missed cycles : 2).[0m ×2 + 1.51sINFOros2_control_node[2026-06-03 15:07:53.389] [info] Got request to cancel active goal. ×2 + 1.51sINFOros2_control_node[2026-06-03 15:07:53.389] [info] Canceling active goal... ×2 + 1.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780499273.39461827 seconds ×3 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1886.468 us (Expected < 1666.667 us) --> Read time : 183.608 us, Update time : 1378.425 us, Write time : 324.435 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1886.468 us (Expected < 1666.667 us) --> Read time : 183.608 us, Update time : 1378.425 us, Write time : 324.435 us[0m ×2 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.58sINFOros2_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 4.498100 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498100 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780499274.01740408 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780499274.41754675 seconds ×3 + 2.54sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event" + 2.54sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event"[0m ×2 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 4109.451 us (Expected < 1666.667 us) --> Read time : 140.366 us, Update time : 3505.483 us, Write time : 463.602 us + 2.94sWARNros2_control_nodeOverrun might occur, Total time : 4109.451 us (Expected < 1666.667 us) --> Read time : 140.366 us, Update time : 3505.483 us, Write time : 463.602 us[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780499274.96084571 seconds. ×3 + 3.08sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.08sINFOobjective_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 + 3.08sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780499274.96242285 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844357 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844357 ms (missed cycles : 3).[0m ×2 + 3.55sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.55sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg" + 3.55sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.55sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg"[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780499275.50927019 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780499275.50969124 seconds ×3 + 4.05sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String) + 4.05sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 4.10sWARNcontroller_managerOverrun might occur, Total time : 6313.296 us (Expected < 1666.667 us) --> Read time : 164.228 us, Update time : 5709.578 us, Write time : 439.490 us + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 6313.296 us (Expected < 1666.667 us) --> Read time : 164.228 us, Update time : 5709.578 us, Write time : 439.490 us[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309294 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309294 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780499276.06202817 seconds. ×3 + 4.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780499276.37216783 seconds ×3 + 4.52sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573708 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573708 ms (missed cycles : 3).[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 4469.729 us (Expected < 1666.667 us) --> Read time : 130.446 us, Update time : 3911.203 us, Write time : 428.080 us + 5.23sWARNros2_control_nodeOverrun might occur, Total time : 4469.729 us (Expected < 1666.667 us) --> Read time : 130.446 us, Update time : 3911.203 us, Write time : 428.080 us[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.959167 ms (missed cycles : 6). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.959167 ms (missed cycles : 6).[0m ×2 + 7.03sWARNcontroller_managerOverrun might occur, Total time : 9334.257 us (Expected < 1666.667 us) --> Read time : 152.057 us, Update time : 8692.147 us, Write time : 490.053 us + 7.04sWARNros2_control_nodeOverrun might occur, Total time : 9334.257 us (Expected < 1666.667 us) --> Read time : 152.057 us, Update time : 8692.147 us, Write time : 490.053 us[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763388 ms (missed cycles : 3). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763388 ms (missed cycles : 3).[0m ×2
✓ passed	Vector and String Example	vector_and_string_example.xml	0.5s	3 errors · 39 warnings · 62 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4984.953 us (Expected < 1666.667 us) --> Read time : 148.907 us, Update time : 4423.577 us, Write time : 412.469 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4984.953 us (Expected < 1666.667 us) --> Read time : 148.907 us, Update time : 4423.577 us, Write time : 412.469 us[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212019 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212019 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012153 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012153 ms (missed cycles : 2).[0m ×2 + 1.63sINFOros2_control_node[2026-06-03 15:07:53.389] [info] Got request to cancel active goal. ×2 + 1.63sINFOros2_control_node[2026-06-03 15:07:53.389] [info] Canceling active goal... ×2 + 1.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780499273.39461827 seconds ×3 + 1.68sWARNcontroller_managerOverrun might occur, Total time : 1886.468 us (Expected < 1666.667 us) --> Read time : 183.608 us, Update time : 1378.425 us, Write time : 324.435 us + 1.68sWARNros2_control_nodeOverrun might occur, Total time : 1886.468 us (Expected < 1666.667 us) --> Read time : 183.608 us, Update time : 1378.425 us, Write time : 324.435 us[0m ×2 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.70sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498100 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498100 ms (missed cycles : 3).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780499274.01740408 seconds. ×3 + 2.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780499274.41754675 seconds ×3 + 2.66sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event" + 2.66sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event"[0m ×2 + 3.06sWARNcontroller_managerOverrun might occur, Total time : 4109.451 us (Expected < 1666.667 us) --> Read time : 140.366 us, Update time : 3505.483 us, Write time : 463.602 us + 3.06sWARNros2_control_nodeOverrun might occur, Total time : 4109.451 us (Expected < 1666.667 us) --> Read time : 140.366 us, Update time : 3505.483 us, Write time : 463.602 us[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780499274.96084571 seconds. ×3 + 3.20sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.20sINFOobjective_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 + 3.20sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780499274.96242285 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844357 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844357 ms (missed cycles : 3).[0m ×2 + 3.67sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.67sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg" + 3.67sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.67sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg"[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780499275.50927019 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780499275.50969124 seconds ×3 + 4.17sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String) + 4.17sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 4.22sWARNcontroller_managerOverrun might occur, Total time : 6313.296 us (Expected < 1666.667 us) --> Read time : 164.228 us, Update time : 5709.578 us, Write time : 439.490 us + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 6313.296 us (Expected < 1666.667 us) --> Read time : 164.228 us, Update time : 5709.578 us, Write time : 439.490 us[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309294 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309294 ms (missed cycles : 4).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780499276.06202817 seconds. ×3 + 4.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780499276.37216783 seconds ×3 + 4.64sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573708 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573708 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun might occur, Total time : 4469.729 us (Expected < 1666.667 us) --> Read time : 130.446 us, Update time : 3911.203 us, Write time : 428.080 us + 5.34sWARNros2_control_nodeOverrun might occur, Total time : 4469.729 us (Expected < 1666.667 us) --> Read time : 130.446 us, Update time : 3911.203 us, Write time : 428.080 us[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.959167 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.959167 ms (missed cycles : 6).[0m ×2
− skipped	ErrorCheckVectorSize	errorcheckvectorsize.xml	0.0s	3 errors · 36 warnings · 42 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Accepted new action goal ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5).[0m ×2 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us + 0.78sWARNros2_control_nodeOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2).[0m ×2 + 1.88sWARNcontroller_managerOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us + 1.88sWARNros2_control_nodeOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us[0m ×2 + 2.17sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Canceling active goal... ×2 + 2.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499011.49931669 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499012.24203801 seconds. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.99sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 2.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 2.99sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 2.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2).[0m ×2 + 4.43sWARNcontroller_managerOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us + 4.43sWARNros2_control_nodeOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3).[0m ×2
− skipped	Fan Pose About Tool-Z Subtree	fan_pose_about_tool_z_subtree.xml	0.0s	3 errors · 36 warnings · 42 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Accepted new action goal ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5).[0m ×2 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us + 0.78sWARNros2_control_nodeOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2).[0m ×2 + 1.88sWARNcontroller_managerOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us + 1.88sWARNros2_control_nodeOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us[0m ×2 + 2.17sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Canceling active goal... ×2 + 2.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499011.49931669 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499012.24203801 seconds. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.99sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 2.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 2.99sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 2.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2).[0m ×2 + 4.43sWARNcontroller_managerOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us + 4.43sWARNros2_control_nodeOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3).[0m ×2
− skipped	Octomap Example	octomap_example.xml	0.0s	3 errors · 39 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193803 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193803 ms (missed cycles : 2).[0m ×2 + 0.06sWARNcontroller_managerOverrun might occur, Total time : 5404.227 us (Expected < 1666.667 us) --> Read time : 159.868 us, Update time : 4661.881 us, Write time : 582.478 us + 0.06sWARNros2_control_nodeOverrun might occur, Total time : 5404.227 us (Expected < 1666.667 us) --> Read time : 159.868 us, Update time : 4661.881 us, Write time : 582.478 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896445 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896445 ms (missed cycles : 2).[0m ×2 + 1.39sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 1.39sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m ×2 + 1.53sINFOobjective_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 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 3259.914 us (Expected < 1666.667 us) --> Read time : 297.364 us, Update time : 70.193 us, Write time : 2892.357 us + 1.55sWARNros2_control_nodeOverrun might occur, Total time : 3259.914 us (Expected < 1666.667 us) --> Read time : 297.364 us, Update time : 70.193 us, Write time : 2892.357 us[0m ×2 + 1.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 1.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 1.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 1.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 1.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 1.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.89sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 1.89sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708972 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708972 ms (missed cycles : 2).[0m ×2 + 2.57sWARNcontroller_managerOverrun might occur, Total time : 7749.997 us (Expected < 1666.667 us) --> Read time : 163.858 us, Update time : 7166.949 us, Write time : 419.190 us + 2.58sWARNros2_control_nodeOverrun might occur, Total time : 7749.997 us (Expected < 1666.667 us) --> Read time : 163.858 us, Update time : 7166.949 us, Write time : 419.190 us[0m ×2 + 2.60sERRORobjective_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 + 2.60sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780499189.32651019 seconds ×3 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403555 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403555 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780499189.94893551 seconds. ×3 + 3.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.44sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 4.06sWARNcontroller_managerOverrun might occur, Total time : 1720.531 us (Expected < 1666.667 us) --> Read time : 140.306 us, Update time : 223.961 us, Write time : 1356.264 us + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 1720.531 us (Expected < 1666.667 us) --> Read time : 140.306 us, Update time : 223.961 us, Write time : 1356.264 us[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829637 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829637 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 7 iterations (0.00466784 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] ×2 + 4.43sINFOros2_control_node[2026-06-03 15:06:31.163] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-03 15:06:31.164] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun might occur, Total time : 1700.801 us (Expected < 1666.667 us) --> Read time : 186.899 us, Update time : 1207.987 us, Write time : 305.915 us + 5.08sWARNros2_control_nodeOverrun might occur, Total time : 1700.801 us (Expected < 1666.667 us) --> Read time : 186.899 us, Update time : 1207.987 us, Write time : 305.915 us[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552909 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552909 ms (missed cycles : 3).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003256 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003256 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun might occur, Total time : 10700.547 us (Expected < 1666.667 us) --> Read time : 101.694 us, Update time : 10108.360 us, Write time : 490.493 us + 6.37sWARNros2_control_nodeOverrun might occur, Total time : 10700.547 us (Expected < 1666.667 us) --> Read time : 101.694 us, Update time : 10108.360 us, Write time : 490.493 us[0m ×2
− skipped	Place Object	place_object.xml	0.0s	3 errors · 33 warnings · 45 info
+ 0.00sINFOros2_control_node[2026-06-03 15:07:06.319] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-03 15:07:06.319] [info] Accepted new action goal ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977481 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977481 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun might occur, Total time : 2012.846 us (Expected < 1666.667 us) --> Read time : 181.209 us, Update time : 38.882 us, Write time : 1792.755 us + 1.31sWARNros2_control_nodeOverrun might occur, Total time : 2012.846 us (Expected < 1666.667 us) --> Read time : 181.209 us, Update time : 38.882 us, Write time : 1792.755 us[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-06-03 15:07:08.084] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-06-03 15:07:08.084] [info] Accepted new action goal ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702597 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702597 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748099 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748099 ms (missed cycles : 3).[0m ×2 + 3.07sINFOros2_control_node[2026-06-03 15:07:09.390] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-06-03 15:07:09.390] [info] Canceling active goal... ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780499229.39464426 seconds ×3 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.14sWARNcontroller_managerOverrun might occur, Total time : 6026.625 us (Expected < 1666.667 us) --> Read time : 106.705 us, Update time : 5535.342 us, Write time : 384.578 us + 3.14sWARNros2_control_nodeOverrun might occur, Total time : 6026.625 us (Expected < 1666.667 us) --> Read time : 106.705 us, Update time : 5535.342 us, Write time : 384.578 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780499230.00417590 seconds. ×3 + 3.74sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.74sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.74sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.74sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-06-03 15:07:10.168] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-06-03 15:07:10.168] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663327 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663327 ms (missed cycles : 2).[0m ×2 + 4.38sWARNcontroller_managerOverrun might occur, Total time : 4313.394 us (Expected < 1666.667 us) --> Read time : 118.085 us, Update time : 3693.975 us, Write time : 501.334 us + 4.38sWARNros2_control_nodeOverrun might occur, Total time : 4313.394 us (Expected < 1666.667 us) --> Read time : 118.085 us, Update time : 3693.975 us, Write time : 501.334 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625393 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625393 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2649.233 us (Expected < 1666.667 us) --> Read time : 164.637 us, Update time : 2137.770 us, Write time : 346.826 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2649.233 us (Expected < 1666.667 us) --> Read time : 164.637 us, Update time : 2137.770 us, Write time : 346.826 us[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012365 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012365 ms (missed cycles : 2).[0m ×2 + 6.91sWARNcontroller_managerOverrun might occur, Total time : 2581.951 us (Expected < 1666.667 us) --> Read time : 117.705 us, Update time : 2123.970 us, Write time : 340.276 us + 6.91sWARNros2_control_nodeOverrun might occur, Total time : 2581.951 us (Expected < 1666.667 us) --> Read time : 117.705 us, Update time : 2123.970 us, Write time : 340.276 us[0m ×2
− skipped	Register CAD Part	register_cad_part.xml	0.0s	3 errors · 33 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548295 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548295 ms (missed cycles : 6).[0m ×2 + 0.04sWARNcontroller_managerOverrun might occur, Total time : 1813.996 us (Expected < 1666.667 us) --> Read time : 186.819 us, Update time : 1280.990 us, Write time : 346.187 us + 0.04sWARNros2_control_nodeOverrun might occur, Total time : 1813.996 us (Expected < 1666.667 us) --> Read time : 186.819 us, Update time : 1280.990 us, Write time : 346.187 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898070 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898070 ms (missed cycles : 2).[0m ×2 + 1.93sWARNcontroller_managerOverrun might occur, Total time : 2275.467 us (Expected < 1666.667 us) --> Read time : 214.480 us, Update time : 1597.875 us, Write time : 463.112 us + 1.93sWARNros2_control_nodeOverrun might occur, Total time : 2275.467 us (Expected < 1666.667 us) --> Read time : 214.480 us, Update time : 1597.875 us, Write time : 463.112 us[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797731 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797731 ms (missed cycles : 2).[0m ×2 + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780499261.50336242 seconds ×3 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.37sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780499262.12486243 seconds. ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sWARNcontroller_managerOverrun might occur, Total time : 5849.318 us (Expected < 1666.667 us) --> Read time : 267.673 us, Update time : 5101.692 us (Switch time : 4987.686 us (Switch chained mode time : 1.010 us, perform mode change time : 3.950 us, Activation time : 4977.556 us, Deactivation time : 0.430 us)), Write time : 479.953 us + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 5849.318 us (Expected < 1666.667 us) --> Read time : 267.673 us, Update time : 5101.692 us (Switch time : 4987.686 us (Switch chained mode time : 1.010 us, perform mode change time : 3.950 us, Activation time : 4977.556 us, Deactivation time : 0.430 us)), Write time : 479.953 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780499262.20500302 seconds ×3 + 3.10sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.10sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209543 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209543 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780499262.76163268 seconds. ×3 + 3.57sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780499262.79366112 seconds ×3 + 3.96sWARNcontroller_managerOverrun might occur, Total time : 3632.491 us (Expected < 1666.667 us) --> Read time : 148.456 us, Update time : 29.422 us, Write time : 3454.613 us + 3.96sWARNros2_control_nodeOverrun might occur, Total time : 3632.491 us (Expected < 1666.667 us) --> Read time : 148.456 us, Update time : 29.422 us, Write time : 3454.613 us[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780499263.33965445 seconds. ×3 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155871 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155871 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.21sINFOros2_control_node[2026-06-03 15:07:43.434] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-06-03 15:07:43.434] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096030 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096030 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun might occur, Total time : 3006.543 us (Expected < 1666.667 us) --> Read time : 147.367 us, Update time : 2539.201 us, Write time : 319.975 us + 5.34sWARNros2_control_nodeOverrun might occur, Total time : 3006.543 us (Expected < 1666.667 us) --> Read time : 147.367 us, Update time : 2539.201 us, Write time : 319.975 us[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 detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957264 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957264 ms (missed cycles : 3).[0m ×2 + 0.27sWARNcontroller_managerOverrun might occur, Total time : 3461.014 us (Expected < 1666.667 us) --> Read time : 2960.361 us, Update time : 67.693 us, Write time : 432.960 us + 0.27sWARNros2_control_nodeOverrun might occur, Total time : 3461.014 us (Expected < 1666.667 us) --> Read time : 2960.361 us, Update time : 67.693 us, Write time : 432.960 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886330 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886330 ms (missed cycles : 3).[0m ×2 + 1.65sWARNcontroller_managerOverrun might occur, Total time : 6122.752 us (Expected < 1666.667 us) --> Read time : 149.738 us, Update time : 5427.668 us, Write time : 545.346 us + 1.65sWARNros2_control_nodeOverrun might occur, Total time : 6122.752 us (Expected < 1666.667 us) --> Read time : 149.738 us, Update time : 5427.668 us, Write time : 545.346 us[0m ×2 + 1.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.76sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 1.76sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.77sINFOros2_control_node[2026-06-03 15:02:55.322] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-06-03 15:02:55.322] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623931 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623931 ms (missed cycles : 4).[0m ×2 + 2.34sINFOros2_control_node[2026-06-03 15:02:55.888] [info] Got request to cancel active goal. ×2 + 2.34sINFOros2_control_node[2026-06-03 15:02:55.888] [info] Canceling active goal... ×2 + 2.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780498975.90337992 seconds ×3 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 2280.149 us (Expected < 1666.667 us) --> Read time : 164.548 us, Update time : 751.616 us, Write time : 1363.985 us + 2.69sWARNros2_control_nodeOverrun might occur, Total time : 2280.149 us (Expected < 1666.667 us) --> Read time : 164.548 us, Update time : 751.616 us, Write time : 1363.985 us[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780498976.44973707 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780498976.57987142 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309450 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309450 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780498977.15401053 seconds. ×3 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.98sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.08sWARNcontroller_managerOverrun might occur, Total time : 1685.860 us (Expected < 1666.667 us) --> Read time : 111.115 us, Update time : 1288.281 us, Write time : 286.464 us + 4.08sWARNros2_control_nodeOverrun might occur, Total time : 1685.860 us (Expected < 1666.667 us) --> Read time : 111.115 us, Update time : 1288.281 us, Write time : 286.464 us[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709841 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709841 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.79sINFOros2_control_node[2026-06-03 15:02:58.337] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-06-03 15:02:58.337] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698173 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698173 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun might occur, Total time : 4853.369 us (Expected < 1666.667 us) --> Read time : 168.688 us, Update time : 4175.037 us, Write time : 509.644 us + 5.81sWARNros2_control_nodeOverrun might occur, Total time : 4853.369 us (Expected < 1666.667 us) --> Read time : 168.688 us, Update time : 4175.037 us, Write time : 509.644 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723581 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723581 ms (missed cycles : 2).[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 detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957264 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957264 ms (missed cycles : 3).[0m ×2 + 0.27sWARNcontroller_managerOverrun might occur, Total time : 3461.014 us (Expected < 1666.667 us) --> Read time : 2960.361 us, Update time : 67.693 us, Write time : 432.960 us + 0.27sWARNros2_control_nodeOverrun might occur, Total time : 3461.014 us (Expected < 1666.667 us) --> Read time : 2960.361 us, Update time : 67.693 us, Write time : 432.960 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886330 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886330 ms (missed cycles : 3).[0m ×2 + 1.65sWARNcontroller_managerOverrun might occur, Total time : 6122.752 us (Expected < 1666.667 us) --> Read time : 149.738 us, Update time : 5427.668 us, Write time : 545.346 us + 1.65sWARNros2_control_nodeOverrun might occur, Total time : 6122.752 us (Expected < 1666.667 us) --> Read time : 149.738 us, Update time : 5427.668 us, Write time : 545.346 us[0m ×2 + 1.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.76sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 1.76sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.77sINFOros2_control_node[2026-06-03 15:02:55.322] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-06-03 15:02:55.322] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623931 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623931 ms (missed cycles : 4).[0m ×2 + 2.34sINFOros2_control_node[2026-06-03 15:02:55.888] [info] Got request to cancel active goal. ×2 + 2.34sINFOros2_control_node[2026-06-03 15:02:55.888] [info] Canceling active goal... ×2 + 2.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780498975.90337992 seconds ×3 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 2280.149 us (Expected < 1666.667 us) --> Read time : 164.548 us, Update time : 751.616 us, Write time : 1363.985 us + 2.69sWARNros2_control_nodeOverrun might occur, Total time : 2280.149 us (Expected < 1666.667 us) --> Read time : 164.548 us, Update time : 751.616 us, Write time : 1363.985 us[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780498976.44973707 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780498976.57987142 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309450 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309450 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780498977.15401053 seconds. ×3 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.98sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.08sWARNcontroller_managerOverrun might occur, Total time : 1685.860 us (Expected < 1666.667 us) --> Read time : 111.115 us, Update time : 1288.281 us, Write time : 286.464 us + 4.08sWARNros2_control_nodeOverrun might occur, Total time : 1685.860 us (Expected < 1666.667 us) --> Read time : 111.115 us, Update time : 1288.281 us, Write time : 286.464 us[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709841 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709841 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.79sINFOros2_control_node[2026-06-03 15:02:58.337] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-06-03 15:02:58.337] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698173 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698173 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun might occur, Total time : 4853.369 us (Expected < 1666.667 us) --> Read time : 168.688 us, Update time : 4175.037 us, Write time : 509.644 us + 5.81sWARNros2_control_nodeOverrun might occur, Total time : 4853.369 us (Expected < 1666.667 us) --> Read time : 168.688 us, Update time : 4175.037 us, Write time : 509.644 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723581 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723581 ms (missed cycles : 2).[0m ×2
− skipped	Add Waypoints to MTC Task	add_waypoints_to_mtc_task.xml	0.0s	3 errors · 33 warnings · 49 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3461.014 us (Expected < 1666.667 us) --> Read time : 2960.361 us, Update time : 67.693 us, Write time : 432.960 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3461.014 us (Expected < 1666.667 us) --> Read time : 2960.361 us, Update time : 67.693 us, Write time : 432.960 us[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886330 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886330 ms (missed cycles : 3).[0m ×2 + 1.38sWARNcontroller_managerOverrun might occur, Total time : 6122.752 us (Expected < 1666.667 us) --> Read time : 149.738 us, Update time : 5427.668 us, Write time : 545.346 us + 1.38sWARNros2_control_nodeOverrun might occur, Total time : 6122.752 us (Expected < 1666.667 us) --> Read time : 149.738 us, Update time : 5427.668 us, Write time : 545.346 us[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.49sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 1.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.50sINFOros2_control_node[2026-06-03 15:02:55.322] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-06-03 15:02:55.322] [info] Accepted new action goal ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623931 ms (missed cycles : 4). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623931 ms (missed cycles : 4).[0m ×2 + 2.07sINFOros2_control_node[2026-06-03 15:02:55.888] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-06-03 15:02:55.888] [info] Canceling active goal... ×2 + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780498975.90337992 seconds ×3 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.42sWARNcontroller_managerOverrun might occur, Total time : 2280.149 us (Expected < 1666.667 us) --> Read time : 164.548 us, Update time : 751.616 us, Write time : 1363.985 us + 2.42sWARNros2_control_nodeOverrun might occur, Total time : 2280.149 us (Expected < 1666.667 us) --> Read time : 164.548 us, Update time : 751.616 us, Write time : 1363.985 us[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780498976.44973707 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780498976.57987142 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309450 ms (missed cycles : 5). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309450 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780498977.15401053 seconds. ×3 + 3.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.71sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.81sWARNcontroller_managerOverrun might occur, Total time : 1685.860 us (Expected < 1666.667 us) --> Read time : 111.115 us, Update time : 1288.281 us, Write time : 286.464 us + 3.81sWARNros2_control_nodeOverrun might occur, Total time : 1685.860 us (Expected < 1666.667 us) --> Read time : 111.115 us, Update time : 1288.281 us, Write time : 286.464 us[0m ×2 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709841 ms (missed cycles : 2). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709841 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.51sINFOros2_control_node[2026-06-03 15:02:58.337] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-06-03 15:02:58.337] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698173 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698173 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun might occur, Total time : 4853.369 us (Expected < 1666.667 us) --> Read time : 168.688 us, Update time : 4175.037 us, Write time : 509.644 us + 5.54sWARNros2_control_nodeOverrun might occur, Total time : 4853.369 us (Expected < 1666.667 us) --> Read time : 168.688 us, Update time : 4175.037 us, Write time : 509.644 us[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723581 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723581 ms (missed cycles : 2).[0m ×2
− skipped	AddBottlesToPlanningScene	addbottlestoplanningscene.xml	0.0s	3 errors · 33 warnings · 49 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3461.014 us (Expected < 1666.667 us) --> Read time : 2960.361 us, Update time : 67.693 us, Write time : 432.960 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3461.014 us (Expected < 1666.667 us) --> Read time : 2960.361 us, Update time : 67.693 us, Write time : 432.960 us[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886330 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886330 ms (missed cycles : 3).[0m ×2 + 1.38sWARNcontroller_managerOverrun might occur, Total time : 6122.752 us (Expected < 1666.667 us) --> Read time : 149.738 us, Update time : 5427.668 us, Write time : 545.346 us + 1.38sWARNros2_control_nodeOverrun might occur, Total time : 6122.752 us (Expected < 1666.667 us) --> Read time : 149.738 us, Update time : 5427.668 us, Write time : 545.346 us[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.49sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 1.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.50sINFOros2_control_node[2026-06-03 15:02:55.322] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-06-03 15:02:55.322] [info] Accepted new action goal ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623931 ms (missed cycles : 4). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623931 ms (missed cycles : 4).[0m ×2 + 2.07sINFOros2_control_node[2026-06-03 15:02:55.888] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-06-03 15:02:55.888] [info] Canceling active goal... ×2 + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780498975.90337992 seconds ×3 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.42sWARNcontroller_managerOverrun might occur, Total time : 2280.149 us (Expected < 1666.667 us) --> Read time : 164.548 us, Update time : 751.616 us, Write time : 1363.985 us + 2.42sWARNros2_control_nodeOverrun might occur, Total time : 2280.149 us (Expected < 1666.667 us) --> Read time : 164.548 us, Update time : 751.616 us, Write time : 1363.985 us[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780498976.44973707 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780498976.57987142 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309450 ms (missed cycles : 5). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309450 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780498977.15401053 seconds. ×3 + 3.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.71sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.81sWARNcontroller_managerOverrun might occur, Total time : 1685.860 us (Expected < 1666.667 us) --> Read time : 111.115 us, Update time : 1288.281 us, Write time : 286.464 us + 3.81sWARNros2_control_nodeOverrun might occur, Total time : 1685.860 us (Expected < 1666.667 us) --> Read time : 111.115 us, Update time : 1288.281 us, Write time : 286.464 us[0m ×2 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709841 ms (missed cycles : 2). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709841 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.51sINFOros2_control_node[2026-06-03 15:02:58.337] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-06-03 15:02:58.337] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698173 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698173 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun might occur, Total time : 4853.369 us (Expected < 1666.667 us) --> Read time : 168.688 us, Update time : 4175.037 us, Write time : 509.644 us + 5.54sWARNros2_control_nodeOverrun might occur, Total time : 4853.369 us (Expected < 1666.667 us) --> Read time : 168.688 us, Update time : 4175.037 us, Write time : 509.644 us[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723581 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723581 ms (missed cycles : 2).[0m ×2
− skipped	AddCollisionBoxInFrontOfEndEffector	addcollisionboxinfrontofendeffector.xml	0.0s	3 errors · 33 warnings · 49 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3461.014 us (Expected < 1666.667 us) --> Read time : 2960.361 us, Update time : 67.693 us, Write time : 432.960 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3461.014 us (Expected < 1666.667 us) --> Read time : 2960.361 us, Update time : 67.693 us, Write time : 432.960 us[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886330 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886330 ms (missed cycles : 3).[0m ×2 + 1.38sWARNcontroller_managerOverrun might occur, Total time : 6122.752 us (Expected < 1666.667 us) --> Read time : 149.738 us, Update time : 5427.668 us, Write time : 545.346 us + 1.38sWARNros2_control_nodeOverrun might occur, Total time : 6122.752 us (Expected < 1666.667 us) --> Read time : 149.738 us, Update time : 5427.668 us, Write time : 545.346 us[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.49sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 1.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.50sINFOros2_control_node[2026-06-03 15:02:55.322] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-06-03 15:02:55.322] [info] Accepted new action goal ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623931 ms (missed cycles : 4). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623931 ms (missed cycles : 4).[0m ×2 + 2.07sINFOros2_control_node[2026-06-03 15:02:55.888] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-06-03 15:02:55.888] [info] Canceling active goal... ×2 + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780498975.90337992 seconds ×3 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.42sWARNcontroller_managerOverrun might occur, Total time : 2280.149 us (Expected < 1666.667 us) --> Read time : 164.548 us, Update time : 751.616 us, Write time : 1363.985 us + 2.42sWARNros2_control_nodeOverrun might occur, Total time : 2280.149 us (Expected < 1666.667 us) --> Read time : 164.548 us, Update time : 751.616 us, Write time : 1363.985 us[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780498976.44973707 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780498976.57987142 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309450 ms (missed cycles : 5). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309450 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780498977.15401053 seconds. ×3 + 3.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.71sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.81sWARNcontroller_managerOverrun might occur, Total time : 1685.860 us (Expected < 1666.667 us) --> Read time : 111.115 us, Update time : 1288.281 us, Write time : 286.464 us + 3.81sWARNros2_control_nodeOverrun might occur, Total time : 1685.860 us (Expected < 1666.667 us) --> Read time : 111.115 us, Update time : 1288.281 us, Write time : 286.464 us[0m ×2 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709841 ms (missed cycles : 2). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709841 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.51sINFOros2_control_node[2026-06-03 15:02:58.337] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-06-03 15:02:58.337] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698173 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698173 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun might occur, Total time : 4853.369 us (Expected < 1666.667 us) --> Read time : 168.688 us, Update time : 4175.037 us, Write time : 509.644 us + 5.54sWARNros2_control_nodeOverrun might occur, Total time : 4853.369 us (Expected < 1666.667 us) --> Read time : 168.688 us, Update time : 4175.037 us, Write time : 509.644 us[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723581 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723581 ms (missed cycles : 2).[0m ×2
− skipped	AddCollisionObjectToPlanningScene	addcollisionobjecttoplanningscene.xml	0.0s	3 errors · 33 warnings · 49 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3461.014 us (Expected < 1666.667 us) --> Read time : 2960.361 us, Update time : 67.693 us, Write time : 432.960 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3461.014 us (Expected < 1666.667 us) --> Read time : 2960.361 us, Update time : 67.693 us, Write time : 432.960 us[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886330 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886330 ms (missed cycles : 3).[0m ×2 + 1.38sWARNcontroller_managerOverrun might occur, Total time : 6122.752 us (Expected < 1666.667 us) --> Read time : 149.738 us, Update time : 5427.668 us, Write time : 545.346 us + 1.38sWARNros2_control_nodeOverrun might occur, Total time : 6122.752 us (Expected < 1666.667 us) --> Read time : 149.738 us, Update time : 5427.668 us, Write time : 545.346 us[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.49sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 1.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.50sINFOros2_control_node[2026-06-03 15:02:55.322] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-06-03 15:02:55.322] [info] Accepted new action goal ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623931 ms (missed cycles : 4). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623931 ms (missed cycles : 4).[0m ×2 + 2.07sINFOros2_control_node[2026-06-03 15:02:55.888] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-06-03 15:02:55.888] [info] Canceling active goal... ×2 + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780498975.90337992 seconds ×3 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.42sWARNcontroller_managerOverrun might occur, Total time : 2280.149 us (Expected < 1666.667 us) --> Read time : 164.548 us, Update time : 751.616 us, Write time : 1363.985 us + 2.42sWARNros2_control_nodeOverrun might occur, Total time : 2280.149 us (Expected < 1666.667 us) --> Read time : 164.548 us, Update time : 751.616 us, Write time : 1363.985 us[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780498976.44973707 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780498976.57987142 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309450 ms (missed cycles : 5). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309450 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780498977.15401053 seconds. ×3 + 3.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.71sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.81sWARNcontroller_managerOverrun might occur, Total time : 1685.860 us (Expected < 1666.667 us) --> Read time : 111.115 us, Update time : 1288.281 us, Write time : 286.464 us + 3.81sWARNros2_control_nodeOverrun might occur, Total time : 1685.860 us (Expected < 1666.667 us) --> Read time : 111.115 us, Update time : 1288.281 us, Write time : 286.464 us[0m ×2 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709841 ms (missed cycles : 2). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709841 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.51sINFOros2_control_node[2026-06-03 15:02:58.337] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-06-03 15:02:58.337] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698173 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698173 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun might occur, Total time : 4853.369 us (Expected < 1666.667 us) --> Read time : 168.688 us, Update time : 4175.037 us, Write time : 509.644 us + 5.54sWARNros2_control_nodeOverrun might occur, Total time : 4853.369 us (Expected < 1666.667 us) --> Read time : 168.688 us, Update time : 4175.037 us, Write time : 509.644 us[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723581 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723581 ms (missed cycles : 2).[0m ×2
− skipped	ComputeLinkPoseFromWaypoint	computelinkposefromwaypoint.xml	0.0s	33 warnings · 58 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.535305 ms (missed cycles : 7). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.535305 ms (missed cycles : 7).[0m ×2 + 0.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.39sINFOros2_control_node[2026-06-03 15:03:18.697] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-06-03 15:03:18.697] [info] Accepted new action goal ×2 + 0.51sWARNcontroller_managerOverrun might occur, Total time : 2590.353 us (Expected < 1666.667 us) --> Read time : 270.783 us, Update time : 1983.474 us, Write time : 336.096 us + 0.51sWARNros2_control_nodeOverrun might occur, Total time : 2590.353 us (Expected < 1666.667 us) --> Read time : 270.783 us, Update time : 1983.474 us, Write time : 336.096 us[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.674158 ms (missed cycles : 6). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.674158 ms (missed cycles : 6).[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780499000.08417225 seconds ×3 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.88sWARNcontroller_managerOverrun might occur, Total time : 6024.636 us (Expected < 1666.667 us) --> Read time : 90.355 us, Update time : 5556.983 us, Write time : 377.298 us + 1.88sWARNros2_control_nodeOverrun might occur, Total time : 6024.636 us (Expected < 1666.667 us) --> Read time : 90.355 us, Update time : 5556.983 us, Write time : 377.298 us[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780499000.65875721 seconds. ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299470 ms (missed cycles : 4). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299470 ms (missed cycles : 4).[0m ×2 + 2.43sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.43sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780499000.74392748 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780499001.30694079 seconds. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 2434.856 us (Expected < 1666.667 us) --> Read time : 114.766 us, Update time : 1967.083 us, Write time : 353.007 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 2434.856 us (Expected < 1666.667 us) --> Read time : 114.766 us, Update time : 1967.083 us, Write time : 353.007 us[0m ×2 + 3.09sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.09sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.11sINFOros2_control_node[2026-06-03 15:03:21.411] [info] Received new action goal ×2 + 3.11sINFOros2_control_node[2026-06-03 15:03:21.411] [info] Accepted new action goal ×2 + 3.44sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.44sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478879 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478879 ms (missed cycles : 5).[0m ×2 + 4.23sWARNcontroller_managerOverrun might occur, Total time : 6020.516 us (Expected < 1666.667 us) --> Read time : 129.287 us, Update time : 5470.439 us, Write time : 420.790 us + 4.24sWARNros2_control_nodeOverrun might occur, Total time : 6020.516 us (Expected < 1666.667 us) --> Read time : 129.287 us, Update time : 5470.439 us, Write time : 420.790 us[0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060940 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060940 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183714 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183714 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun might occur, Total time : 1742.523 us (Expected < 1666.667 us) --> Read time : 182.019 us, Update time : 1237.638 us, Write time : 322.866 us + 6.13sWARNros2_control_nodeOverrun might occur, Total time : 1742.523 us (Expected < 1666.667 us) --> Read time : 182.019 us, Update time : 1237.638 us, Write time : 322.866 us[0m ×2 + 6.43sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.44sINFOros2_control_node[2026-06-03 15:03:24.743] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-06-03 15:03:24.743] [info] Accepted new action goal ×2
− skipped	Constrained Pick and Place Subtree	constrained_pick_and_place_subtree.xml	0.0s	33 warnings · 58 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.535305 ms (missed cycles : 7). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.535305 ms (missed cycles : 7).[0m ×2 + 0.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.39sINFOros2_control_node[2026-06-03 15:03:18.697] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-06-03 15:03:18.697] [info] Accepted new action goal ×2 + 0.51sWARNcontroller_managerOverrun might occur, Total time : 2590.353 us (Expected < 1666.667 us) --> Read time : 270.783 us, Update time : 1983.474 us, Write time : 336.096 us + 0.51sWARNros2_control_nodeOverrun might occur, Total time : 2590.353 us (Expected < 1666.667 us) --> Read time : 270.783 us, Update time : 1983.474 us, Write time : 336.096 us[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.674158 ms (missed cycles : 6). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.674158 ms (missed cycles : 6).[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780499000.08417225 seconds ×3 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.88sWARNcontroller_managerOverrun might occur, Total time : 6024.636 us (Expected < 1666.667 us) --> Read time : 90.355 us, Update time : 5556.983 us, Write time : 377.298 us + 1.88sWARNros2_control_nodeOverrun might occur, Total time : 6024.636 us (Expected < 1666.667 us) --> Read time : 90.355 us, Update time : 5556.983 us, Write time : 377.298 us[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780499000.65875721 seconds. ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299470 ms (missed cycles : 4). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299470 ms (missed cycles : 4).[0m ×2 + 2.43sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.43sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780499000.74392748 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780499001.30694079 seconds. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 2434.856 us (Expected < 1666.667 us) --> Read time : 114.766 us, Update time : 1967.083 us, Write time : 353.007 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 2434.856 us (Expected < 1666.667 us) --> Read time : 114.766 us, Update time : 1967.083 us, Write time : 353.007 us[0m ×2 + 3.09sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.09sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.11sINFOros2_control_node[2026-06-03 15:03:21.411] [info] Received new action goal ×2 + 3.11sINFOros2_control_node[2026-06-03 15:03:21.411] [info] Accepted new action goal ×2 + 3.44sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.44sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478879 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478879 ms (missed cycles : 5).[0m ×2 + 4.23sWARNcontroller_managerOverrun might occur, Total time : 6020.516 us (Expected < 1666.667 us) --> Read time : 129.287 us, Update time : 5470.439 us, Write time : 420.790 us + 4.24sWARNros2_control_nodeOverrun might occur, Total time : 6020.516 us (Expected < 1666.667 us) --> Read time : 129.287 us, Update time : 5470.439 us, Write time : 420.790 us[0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060940 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060940 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183714 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183714 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun might occur, Total time : 1742.523 us (Expected < 1666.667 us) --> Read time : 182.019 us, Update time : 1237.638 us, Write time : 322.866 us + 6.13sWARNros2_control_nodeOverrun might occur, Total time : 1742.523 us (Expected < 1666.667 us) --> Read time : 182.019 us, Update time : 1237.638 us, Write time : 322.866 us[0m ×2 + 6.43sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.44sINFOros2_control_node[2026-06-03 15:03:24.743] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-06-03 15:03:24.743] [info] Accepted new action goal ×2
− skipped	Create PCL Poses Vector	create_pcl_poses_vector.xml	0.0s	33 warnings · 58 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.535305 ms (missed cycles : 7). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.535305 ms (missed cycles : 7).[0m ×2 + 0.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.39sINFOros2_control_node[2026-06-03 15:03:18.697] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-06-03 15:03:18.697] [info] Accepted new action goal ×2 + 0.51sWARNcontroller_managerOverrun might occur, Total time : 2590.353 us (Expected < 1666.667 us) --> Read time : 270.783 us, Update time : 1983.474 us, Write time : 336.096 us + 0.51sWARNros2_control_nodeOverrun might occur, Total time : 2590.353 us (Expected < 1666.667 us) --> Read time : 270.783 us, Update time : 1983.474 us, Write time : 336.096 us[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.674158 ms (missed cycles : 6). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.674158 ms (missed cycles : 6).[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780499000.08417225 seconds ×3 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.88sWARNcontroller_managerOverrun might occur, Total time : 6024.636 us (Expected < 1666.667 us) --> Read time : 90.355 us, Update time : 5556.983 us, Write time : 377.298 us + 1.88sWARNros2_control_nodeOverrun might occur, Total time : 6024.636 us (Expected < 1666.667 us) --> Read time : 90.355 us, Update time : 5556.983 us, Write time : 377.298 us[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780499000.65875721 seconds. ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299470 ms (missed cycles : 4). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299470 ms (missed cycles : 4).[0m ×2 + 2.43sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.43sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780499000.74392748 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780499001.30694079 seconds. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 2434.856 us (Expected < 1666.667 us) --> Read time : 114.766 us, Update time : 1967.083 us, Write time : 353.007 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 2434.856 us (Expected < 1666.667 us) --> Read time : 114.766 us, Update time : 1967.083 us, Write time : 353.007 us[0m ×2 + 3.09sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.09sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.11sINFOros2_control_node[2026-06-03 15:03:21.411] [info] Received new action goal ×2 + 3.11sINFOros2_control_node[2026-06-03 15:03:21.411] [info] Accepted new action goal ×2 + 3.44sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.44sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478879 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478879 ms (missed cycles : 5).[0m ×2 + 4.23sWARNcontroller_managerOverrun might occur, Total time : 6020.516 us (Expected < 1666.667 us) --> Read time : 129.287 us, Update time : 5470.439 us, Write time : 420.790 us + 4.24sWARNros2_control_nodeOverrun might occur, Total time : 6020.516 us (Expected < 1666.667 us) --> Read time : 129.287 us, Update time : 5470.439 us, Write time : 420.790 us[0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060940 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060940 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183714 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183714 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun might occur, Total time : 1742.523 us (Expected < 1666.667 us) --> Read time : 182.019 us, Update time : 1237.638 us, Write time : 322.866 us + 6.13sWARNros2_control_nodeOverrun might occur, Total time : 1742.523 us (Expected < 1666.667 us) --> Read time : 182.019 us, Update time : 1237.638 us, Write time : 322.866 us[0m ×2 + 6.43sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.44sINFOros2_control_node[2026-06-03 15:03:24.743] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-06-03 15:03:24.743] [info] Accepted new action goal ×2
− skipped	Create Pose Vector	create_pose_vector.xml	0.0s	33 warnings · 58 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.535305 ms (missed cycles : 7). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.535305 ms (missed cycles : 7).[0m ×2 + 0.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.39sINFOros2_control_node[2026-06-03 15:03:18.697] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-06-03 15:03:18.697] [info] Accepted new action goal ×2 + 0.51sWARNcontroller_managerOverrun might occur, Total time : 2590.353 us (Expected < 1666.667 us) --> Read time : 270.783 us, Update time : 1983.474 us, Write time : 336.096 us + 0.51sWARNros2_control_nodeOverrun might occur, Total time : 2590.353 us (Expected < 1666.667 us) --> Read time : 270.783 us, Update time : 1983.474 us, Write time : 336.096 us[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.674158 ms (missed cycles : 6). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.674158 ms (missed cycles : 6).[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780499000.08417225 seconds ×3 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.88sWARNcontroller_managerOverrun might occur, Total time : 6024.636 us (Expected < 1666.667 us) --> Read time : 90.355 us, Update time : 5556.983 us, Write time : 377.298 us + 1.88sWARNros2_control_nodeOverrun might occur, Total time : 6024.636 us (Expected < 1666.667 us) --> Read time : 90.355 us, Update time : 5556.983 us, Write time : 377.298 us[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780499000.65875721 seconds. ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299470 ms (missed cycles : 4). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299470 ms (missed cycles : 4).[0m ×2 + 2.43sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.43sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780499000.74392748 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780499001.30694079 seconds. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 2434.856 us (Expected < 1666.667 us) --> Read time : 114.766 us, Update time : 1967.083 us, Write time : 353.007 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 2434.856 us (Expected < 1666.667 us) --> Read time : 114.766 us, Update time : 1967.083 us, Write time : 353.007 us[0m ×2 + 3.09sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.09sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.11sINFOros2_control_node[2026-06-03 15:03:21.411] [info] Received new action goal ×2 + 3.11sINFOros2_control_node[2026-06-03 15:03:21.411] [info] Accepted new action goal ×2 + 3.44sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.44sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478879 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478879 ms (missed cycles : 5).[0m ×2 + 4.23sWARNcontroller_managerOverrun might occur, Total time : 6020.516 us (Expected < 1666.667 us) --> Read time : 129.287 us, Update time : 5470.439 us, Write time : 420.790 us + 4.24sWARNros2_control_nodeOverrun might occur, Total time : 6020.516 us (Expected < 1666.667 us) --> Read time : 129.287 us, Update time : 5470.439 us, Write time : 420.790 us[0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060940 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060940 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183714 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183714 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun might occur, Total time : 1742.523 us (Expected < 1666.667 us) --> Read time : 182.019 us, Update time : 1237.638 us, Write time : 322.866 us + 6.13sWARNros2_control_nodeOverrun might occur, Total time : 1742.523 us (Expected < 1666.667 us) --> Read time : 182.019 us, Update time : 1237.638 us, Write time : 322.866 us[0m ×2 + 6.43sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.44sINFOros2_control_node[2026-06-03 15:03:24.743] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-06-03 15:03:24.743] [info] Accepted new action goal ×2
− skipped	Fit Bottle Model Subtree	fit_bottle_model_subtree.xml	0.0s	3 errors · 36 warnings · 42 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Accepted new action goal ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5).[0m ×2 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us + 0.78sWARNros2_control_nodeOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2).[0m ×2 + 1.88sWARNcontroller_managerOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us + 1.88sWARNros2_control_nodeOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us[0m ×2 + 2.17sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Canceling active goal... ×2 + 2.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499011.49931669 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499012.24203801 seconds. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.99sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 2.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 2.99sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 2.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2).[0m ×2 + 4.43sWARNcontroller_managerOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us + 4.43sWARNros2_control_nodeOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3).[0m ×2
− skipped	Force Relaxation	force_relaxation.xml	0.0s	3 errors · 36 warnings · 42 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Accepted new action goal ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5).[0m ×2 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us + 0.78sWARNros2_control_nodeOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2).[0m ×2 + 1.88sWARNcontroller_managerOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us + 1.88sWARNros2_control_nodeOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us[0m ×2 + 2.17sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Canceling active goal... ×2 + 2.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499011.49931669 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499012.24203801 seconds. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.99sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 2.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 2.99sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 2.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2).[0m ×2 + 4.43sWARNcontroller_managerOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us + 4.43sWARNros2_control_nodeOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3).[0m ×2
− skipped	Fuse Multiple Views Subtree	fuse_multiple_views_subtree.xml	0.0s	3 errors · 36 warnings · 42 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Accepted new action goal ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5).[0m ×2 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us + 0.78sWARNros2_control_nodeOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2).[0m ×2 + 1.88sWARNcontroller_managerOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us + 1.88sWARNros2_control_nodeOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us[0m ×2 + 2.17sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Canceling active goal... ×2 + 2.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499011.49931669 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499012.24203801 seconds. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.99sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 2.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 2.99sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 2.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2).[0m ×2 + 4.43sWARNcontroller_managerOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us + 4.43sWARNros2_control_nodeOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3).[0m ×2
− skipped	Get AprilTag Pose from Image	get_april_tag_pose_from_image.xml	0.0s	3 errors · 36 warnings · 42 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Accepted new action goal ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5).[0m ×2 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us + 0.78sWARNros2_control_nodeOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2).[0m ×2 + 1.88sWARNcontroller_managerOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us + 1.88sWARNros2_control_nodeOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us[0m ×2 + 2.17sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Canceling active goal... ×2 + 2.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499011.49931669 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499012.24203801 seconds. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.99sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 2.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 2.99sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 2.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2).[0m ×2 + 4.43sWARNcontroller_managerOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us + 4.43sWARNros2_control_nodeOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3).[0m ×2
− skipped	Get Bottle Grasp via ICP Subtree	get_bottle_grasp_via_icp_subtree.xml	0.0s	3 errors · 36 warnings · 42 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Accepted new action goal ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5).[0m ×2 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us + 0.78sWARNros2_control_nodeOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2).[0m ×2 + 1.88sWARNcontroller_managerOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us + 1.88sWARNros2_control_nodeOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us[0m ×2 + 2.17sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Canceling active goal... ×2 + 2.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499011.49931669 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499012.24203801 seconds. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.99sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 2.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 2.99sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 2.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2).[0m ×2 + 4.43sWARNcontroller_managerOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us + 4.43sWARNros2_control_nodeOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3).[0m ×2
− skipped	Get Collision Free Grasp Subtree	get_collision_free_grasp_subtree.xml	0.0s	3 errors · 36 warnings · 42 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Accepted new action goal ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5).[0m ×2 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us + 0.78sWARNros2_control_nodeOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2).[0m ×2 + 1.88sWARNcontroller_managerOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us + 1.88sWARNros2_control_nodeOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us[0m ×2 + 2.17sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Canceling active goal... ×2 + 2.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499011.49931669 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499012.24203801 seconds. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.99sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 2.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 2.99sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 2.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2).[0m ×2 + 4.43sWARNcontroller_managerOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us + 4.43sWARNros2_control_nodeOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3).[0m ×2
− skipped	GetPoseAtGripperandDisplay	get_pose_at_gripper_and_display.xml	0.0s	3 errors · 36 warnings · 42 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Accepted new action goal ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5).[0m ×2 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us + 0.78sWARNros2_control_nodeOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2).[0m ×2 + 1.88sWARNcontroller_managerOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us + 1.88sWARNros2_control_nodeOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us[0m ×2 + 2.17sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Canceling active goal... ×2 + 2.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499011.49931669 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499012.24203801 seconds. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.99sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 2.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 2.99sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 2.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2).[0m ×2 + 4.43sWARNcontroller_managerOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us + 4.43sWARNros2_control_nodeOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3).[0m ×2
− skipped	Get Transform Frame Pose	get_transform_frame_pose.xml	0.0s	3 errors · 36 warnings · 42 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Accepted new action goal ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5).[0m ×2 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us + 0.78sWARNros2_control_nodeOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2).[0m ×2 + 1.88sWARNcontroller_managerOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us + 1.88sWARNros2_control_nodeOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us[0m ×2 + 2.17sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Canceling active goal... ×2 + 2.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499011.49931669 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499012.24203801 seconds. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.99sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 2.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 2.99sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 2.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2).[0m ×2 + 4.43sWARNcontroller_managerOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us + 4.43sWARNros2_control_nodeOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3).[0m ×2
− skipped	Grasp Planning	grasp_planning.xml	0.0s	3 errors · 36 warnings · 42 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-06-03 15:03:29.398] [info] Accepted new action goal ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738755 ms (missed cycles : 5).[0m ×2 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us + 0.78sWARNros2_control_nodeOverrun might occur, Total time : 4307.754 us (Expected < 1666.667 us) --> Read time : 220.571 us, Update time : 3565.378 us, Write time : 521.805 us[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981326 ms (missed cycles : 2).[0m ×2 + 1.88sWARNcontroller_managerOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us + 1.88sWARNros2_control_nodeOverrun might occur, Total time : 1747.012 us (Expected < 1666.667 us) --> Read time : 116.356 us, Update time : 649.100 us, Write time : 981.556 us[0m ×2 + 2.17sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-06-03 15:03:31.487] [info] Canceling active goal... ×2 + 2.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499011.49931669 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831402 ms (missed cycles : 3).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499012.24203801 seconds. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.99sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 2.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 2.99sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 2.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 2361.100 us (Expected < 1666.667 us) --> Read time : 1735.302 us, Update time : 79.713 us, Write time : 546.085 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351630 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-03 15:03:33.365] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954239 ms (missed cycles : 2).[0m ×2 + 4.43sWARNcontroller_managerOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us + 4.43sWARNros2_control_nodeOverrun might occur, Total time : 9472.528 us (Expected < 1666.667 us) --> Read time : 191.138 us, Update time : 8721.723 us, Write time : 559.667 us[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897669 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 2958.110 us (Expected < 1666.667 us) --> Read time : 129.216 us, Update time : 2511.219 us, Write time : 317.675 us[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461952 ms (missed cycles : 3).[0m ×2
− skipped	Joint Diagnostic	joint_diagnostic.xml	0.0s	3 errors · 33 warnings · 59 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1713.331 us (Expected < 1666.667 us) --> Read time : 153.367 us, Update time : 129.186 us, Write time : 1430.778 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1713.331 us (Expected < 1666.667 us) --> Read time : 153.367 us, Update time : 129.186 us, Write time : 1430.778 us[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405308 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405308 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (1.1e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.88sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.94sINFOobjective_server_nodeFound path in 1 iterations (0.00198892 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] ×2 + 1.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.06sINFOros2_control_node[2026-06-03 15:03:51.845] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-06-03 15:03:51.845] [info] Accepted new action goal ×2 + 1.50sINFOros2_control_node[2026-06-03 15:03:52.287] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-06-03 15:03:52.287] [info] Accepted new action goal ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809436 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809436 ms (missed cycles : 3).[0m ×2 + 1.67sWARNcontroller_managerOverrun might occur, Total time : 4510.024 us (Expected < 1666.667 us) --> Read time : 186.059 us, Update time : 3863.663 us, Write time : 460.302 us + 1.67sWARNros2_control_nodeOverrun might occur, Total time : 4510.024 us (Expected < 1666.667 us) --> Read time : 186.059 us, Update time : 3863.663 us, Write time : 460.302 us[0m ×2 + 2.60sINFOros2_control_node[2026-06-03 15:03:53.391] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-06-03 15:03:53.391] [info] Canceling active goal... ×2 + 2.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780499033.39880228 seconds ×3 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.63sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.099554 ms (missed cycles : 5). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.099554 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780499034.02023745 seconds. ×3 + 3.26sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.26sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.31sWARNcontroller_managerOverrun might occur, Total time : 4316.894 us (Expected < 1666.667 us) --> Read time : 90.504 us, Update time : 3816.220 us, Write time : 410.170 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 4316.894 us (Expected < 1666.667 us) --> Read time : 90.504 us, Update time : 3816.220 us, Write time : 410.170 us[0m ×2 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.42sINFOros2_control_node[2026-06-03 15:03:54.204] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-06-03 15:03:54.204] [info] Accepted new action goal ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421838 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421838 ms (missed cycles : 2).[0m ×2 + 3.76sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.76sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.77sWARNcontroller_managerOverrun might occur, Total time : 4488.923 us (Expected < 1666.667 us) --> Read time : 103.995 us, Update time : 3826.571 us, Write time : 558.357 us + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703647 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun might occur, Total time : 4488.923 us (Expected < 1666.667 us) --> Read time : 103.995 us, Update time : 3826.571 us, Write time : 558.357 us[0m ×2 + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703647 ms (missed cycles : 3).[0m ×2 + 5.82sWARNcontroller_managerOverrun might occur, Total time : 1692.521 us (Expected < 1666.667 us) --> Read time : 170.919 us, Update time : 1243.669 us, Write time : 277.933 us + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872787 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun might occur, Total time : 1692.521 us (Expected < 1666.667 us) --> Read time : 170.919 us, Update time : 1243.669 us, Write time : 277.933 us[0m ×2 + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872787 ms (missed cycles : 2).[0m ×2 + 5.83sINFOros2_control_node[2026-06-03 15:03:56.617] [info] Received new action goal ×2 + 5.83sINFOros2_control_node[2026-06-03 15:03:56.617] [info] Accepted new action goal ×2
− skipped	LoadAndVisualizePointCloud	load_and_visualize_point_cloud.xml	0.0s	39 warnings · 68 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558646 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558646 ms (missed cycles : 4).[0m ×2 + 0.43sWARNcontroller_managerOverrun might occur, Total time : 5636.517 us (Expected < 1666.667 us) --> Read time : 154.257 us, Update time : 5021.968 us, Write time : 460.292 us + 0.43sWARNros2_control_nodeOverrun might occur, Total time : 5636.517 us (Expected < 1666.667 us) --> Read time : 154.257 us, Update time : 5021.968 us, Write time : 460.292 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935268 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935268 ms (missed cycles : 3).[0m ×2 + 1.61sWARNcontroller_managerOverrun might occur, Total time : 1727.222 us (Expected < 1666.667 us) --> Read time : 258.802 us, Update time : 483.743 us, Write time : 984.677 us + 1.61sWARNros2_control_nodeOverrun might occur, Total time : 1727.222 us (Expected < 1666.667 us) --> Read time : 258.802 us, Update time : 483.743 us, Write time : 984.677 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102683 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102683 ms (missed cycles : 5).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780499045.18762875 seconds ×3 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.49sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.02sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780499045.73946500 seconds. ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sWARNcontroller_managerOverrun might occur, Total time : 2837.675 us (Expected < 1666.667 us) --> Read time : 119.636 us, Update time : 2337.181 us (Switch time : 2312.559 us (Switch chained mode time : 0.630 us, perform mode change time : 2.190 us, Activation time : 2304.909 us, Deactivation time : 0.200 us)), Write time : 380.858 us + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986037 ms (missed cycles : 2). + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sWARNros2_control_nodeOverrun might occur, Total time : 2837.675 us (Expected < 1666.667 us) --> Read time : 119.636 us, Update time : 2337.181 us (Switch time : 2312.559 us (Switch chained mode time : 0.630 us, perform mode change time : 2.190 us, Activation time : 2304.909 us, Deactivation time : 0.200 us)), Write time : 380.858 us[0m ×2 + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986037 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780499045.79959917 seconds ×3 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 6137.682 us (Expected < 1666.667 us) --> Read time : 131.727 us, Update time : 5531.113 us, Write time : 474.842 us + 3.72sWARNros2_control_nodeOverrun might occur, Total time : 6137.682 us (Expected < 1666.667 us) --> Read time : 131.727 us, Update time : 5531.113 us, Write time : 474.842 us[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780499046.46917892 seconds. ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.89sINFOros2_control_node[2026-06-03 15:04:06.593] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-06-03 15:04:06.593] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947077 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947077 ms (missed cycles : 5).[0m ×2 + 5.09sWARNcontroller_managerOverrun might occur, Total time : 1917.302 us (Expected < 1666.667 us) --> Read time : 90.645 us, Update time : 1506.821 us, Write time : 319.836 us + 5.10sWARNros2_control_nodeOverrun might occur, Total time : 1917.302 us (Expected < 1666.667 us) --> Read time : 90.645 us, Update time : 1506.821 us, Write time : 319.836 us[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.326941 ms (missed cycles : 7). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.326941 ms (missed cycles : 7).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780499048.59932756 seconds ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415026 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415026 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 2670.076 us (Expected < 1666.667 us) --> Read time : 160.527 us, Update time : 2093.829 us, Write time : 415.720 us + 6.25sWARNros2_control_nodeOverrun might occur, Total time : 2670.076 us (Expected < 1666.667 us) --> Read time : 160.527 us, Update time : 2093.829 us, Write time : 415.720 us[0m ×2 + 6.43sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780499049.14607811 seconds. ×3
− skipped	ML Auto Grasp Object from Clicked Point	ml_auto_grasp_object_from_clicked_point.xml	0.0s	39 warnings · 72 info
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780499045.73946500 seconds. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.06sWARNcontroller_managerOverrun might occur, Total time : 2837.675 us (Expected < 1666.667 us) --> Read time : 119.636 us, Update time : 2337.181 us (Switch time : 2312.559 us (Switch chained mode time : 0.630 us, perform mode change time : 2.190 us, Activation time : 2304.909 us, Deactivation time : 0.200 us)), Write time : 380.858 us + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986037 ms (missed cycles : 2). + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.06sWARNros2_control_nodeOverrun might occur, Total time : 2837.675 us (Expected < 1666.667 us) --> Read time : 119.636 us, Update time : 2337.181 us (Switch time : 2312.559 us (Switch chained mode time : 0.630 us, perform mode change time : 2.190 us, Activation time : 2304.909 us, Deactivation time : 0.200 us)), Write time : 380.858 us[0m ×2 + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986037 ms (missed cycles : 2).[0m ×2 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780499045.79959917 seconds ×3 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.69sWARNcontroller_managerOverrun might occur, Total time : 6137.682 us (Expected < 1666.667 us) --> Read time : 131.727 us, Update time : 5531.113 us, Write time : 474.842 us + 0.69sWARNros2_control_nodeOverrun might occur, Total time : 6137.682 us (Expected < 1666.667 us) --> Read time : 131.727 us, Update time : 5531.113 us, Write time : 474.842 us[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780499046.46917892 seconds. ×3 + 0.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.84sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 0.84sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 0.86sINFOros2_control_node[2026-06-03 15:04:06.593] [info] Received new action goal ×2 + 0.86sINFOros2_control_node[2026-06-03 15:04:06.593] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947077 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947077 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1917.302 us (Expected < 1666.667 us) --> Read time : 90.645 us, Update time : 1506.821 us, Write time : 319.836 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1917.302 us (Expected < 1666.667 us) --> Read time : 90.645 us, Update time : 1506.821 us, Write time : 319.836 us[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.326941 ms (missed cycles : 7). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.326941 ms (missed cycles : 7).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780499048.59932756 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415026 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415026 ms (missed cycles : 2).[0m ×2 + 3.22sWARNcontroller_managerOverrun might occur, Total time : 2670.076 us (Expected < 1666.667 us) --> Read time : 160.527 us, Update time : 2093.829 us, Write time : 415.720 us + 3.23sWARNros2_control_nodeOverrun might occur, Total time : 2670.076 us (Expected < 1666.667 us) --> Read time : 160.527 us, Update time : 2093.829 us, Write time : 415.720 us[0m ×2 + 3.41sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780499049.14607811 seconds. ×3 + 3.52sINFOros2_control_node[2026-06-03 15:04:09.259] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-06-03 15:04:09.259] [info] Accepted new action goal ×2 + 3.91sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view" + 3.91sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005009 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005009 ms (missed cycles : 2).[0m ×2 + 4.47sWARNcontroller_managerOverrun might occur, Total time : 1736.261 us (Expected < 1666.667 us) --> Read time : 146.707 us, Update time : 1330.252 us, Write time : 259.302 us + 4.47sWARNros2_control_nodeOverrun might occur, Total time : 1736.261 us (Expected < 1666.667 us) --> Read time : 146.707 us, Update time : 1330.252 us, Write time : 259.302 us[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792640 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792640 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun might occur, Total time : 1669.617 us (Expected < 1666.667 us) --> Read time : 1300.581 us, Update time : 44.411 us, Write time : 324.625 us + 5.85sWARNros2_control_nodeOverrun might occur, Total time : 1669.617 us (Expected < 1666.667 us) --> Read time : 1300.581 us, Update time : 44.411 us, Write time : 324.625 us[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.235981 ms (missed cycles : 7). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.235981 ms (missed cycles : 7).[0m ×2
− skipped	ML Find Bottles on Table from Image Exemplar	ml_find_bottles_on_table_from_image_exemplar.xml	0.0s	39 warnings · 72 info
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780499045.73946500 seconds. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.06sWARNcontroller_managerOverrun might occur, Total time : 2837.675 us (Expected < 1666.667 us) --> Read time : 119.636 us, Update time : 2337.181 us (Switch time : 2312.559 us (Switch chained mode time : 0.630 us, perform mode change time : 2.190 us, Activation time : 2304.909 us, Deactivation time : 0.200 us)), Write time : 380.858 us + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986037 ms (missed cycles : 2). + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.06sWARNros2_control_nodeOverrun might occur, Total time : 2837.675 us (Expected < 1666.667 us) --> Read time : 119.636 us, Update time : 2337.181 us (Switch time : 2312.559 us (Switch chained mode time : 0.630 us, perform mode change time : 2.190 us, Activation time : 2304.909 us, Deactivation time : 0.200 us)), Write time : 380.858 us[0m ×2 + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986037 ms (missed cycles : 2).[0m ×2 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780499045.79959917 seconds ×3 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.69sWARNcontroller_managerOverrun might occur, Total time : 6137.682 us (Expected < 1666.667 us) --> Read time : 131.727 us, Update time : 5531.113 us, Write time : 474.842 us + 0.69sWARNros2_control_nodeOverrun might occur, Total time : 6137.682 us (Expected < 1666.667 us) --> Read time : 131.727 us, Update time : 5531.113 us, Write time : 474.842 us[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780499046.46917892 seconds. ×3 + 0.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.84sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 0.84sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 0.86sINFOros2_control_node[2026-06-03 15:04:06.593] [info] Received new action goal ×2 + 0.86sINFOros2_control_node[2026-06-03 15:04:06.593] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947077 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947077 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1917.302 us (Expected < 1666.667 us) --> Read time : 90.645 us, Update time : 1506.821 us, Write time : 319.836 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1917.302 us (Expected < 1666.667 us) --> Read time : 90.645 us, Update time : 1506.821 us, Write time : 319.836 us[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.326941 ms (missed cycles : 7). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.326941 ms (missed cycles : 7).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780499048.59932756 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415026 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415026 ms (missed cycles : 2).[0m ×2 + 3.22sWARNcontroller_managerOverrun might occur, Total time : 2670.076 us (Expected < 1666.667 us) --> Read time : 160.527 us, Update time : 2093.829 us, Write time : 415.720 us + 3.23sWARNros2_control_nodeOverrun might occur, Total time : 2670.076 us (Expected < 1666.667 us) --> Read time : 160.527 us, Update time : 2093.829 us, Write time : 415.720 us[0m ×2 + 3.41sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780499049.14607811 seconds. ×3 + 3.52sINFOros2_control_node[2026-06-03 15:04:09.259] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-06-03 15:04:09.259] [info] Accepted new action goal ×2 + 3.91sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view" + 3.91sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005009 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005009 ms (missed cycles : 2).[0m ×2 + 4.47sWARNcontroller_managerOverrun might occur, Total time : 1736.261 us (Expected < 1666.667 us) --> Read time : 146.707 us, Update time : 1330.252 us, Write time : 259.302 us + 4.47sWARNros2_control_nodeOverrun might occur, Total time : 1736.261 us (Expected < 1666.667 us) --> Read time : 146.707 us, Update time : 1330.252 us, Write time : 259.302 us[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792640 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792640 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun might occur, Total time : 1669.617 us (Expected < 1666.667 us) --> Read time : 1300.581 us, Update time : 44.411 us, Write time : 324.625 us + 5.85sWARNros2_control_nodeOverrun might occur, Total time : 1669.617 us (Expected < 1666.667 us) --> Read time : 1300.581 us, Update time : 44.411 us, Write time : 324.625 us[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.235981 ms (missed cycles : 7). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.235981 ms (missed cycles : 7).[0m ×2
− skipped	ML Segment Image	ml_segment_image.xml	0.0s	33 warnings · 89 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780499055.61721468 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.09sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.09sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780499056.20801091 seconds. ×3 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.552489 ms (missed cycles : 7). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.552489 ms (missed cycles : 7).[0m ×2 + 1.08sINFOobjective_server_node[0;93m2026-06-03 15:04:16.700892391 [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 + 1.08sINFOobjective_server_node[0;93m2026-06-03 15:04:16.700933753 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.10sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.10sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.10sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.10sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.26sWARNcontroller_managerOverrun might occur, Total time : 1731.922 us (Expected < 1666.667 us) --> Read time : 130.916 us, Update time : 1183.446 us, Write time : 417.560 us + 1.26sWARNros2_control_nodeOverrun might occur, Total time : 1731.922 us (Expected < 1666.667 us) --> Read time : 130.916 us, Update time : 1183.446 us, Write time : 417.560 us[0m ×2 + 1.58sINFOobjective_server_node[0;93m2026-06-03 15:04:17.192025562 [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 + 1.58sINFOobjective_server_node[0;93m2026-06-03 15:04:17.192057603 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.67sINFOobjective_server_node[0;93m2026-06-03 15:04:17.287821090 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 15:04:17.289726080 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 15:04:17.289744461 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.667794 ms (missed cycles : 6). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.667794 ms (missed cycles : 6).[0m ×2 + 1.99sINFOobjective_server_node[0;93m2026-06-03 15:04:17.602501170 [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 + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:04:17.620600188 [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 + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:04:17.620632479 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.809150 ms (missed cycles : 6). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.809150 ms (missed cycles : 6).[0m ×2 + 2.81sWARNcontroller_managerOverrun might occur, Total time : 1769.044 us (Expected < 1666.667 us) --> Read time : 760.226 us, Update time : 91.294 us, Write time : 917.524 us + 2.82sWARNros2_control_nodeOverrun might occur, Total time : 1769.044 us (Expected < 1666.667 us) --> Read time : 760.226 us, Update time : 91.294 us, Write time : 917.524 us[0m ×2 + 2.87sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780499058.49195266 seconds ×3 + 3.11sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.11sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780499059.15650511 seconds. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.61sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.63sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.64sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.77sINFOros2_control_node[2026-06-03 15:04:19.382] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-06-03 15:04:19.382] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309644 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309644 ms (missed cycles : 3).[0m ×2 + 4.04sWARNcontroller_managerOverrun might occur, Total time : 6131.810 us (Expected < 1666.667 us) --> Read time : 151.967 us, Update time : 5451.748 us, Write time : 528.095 us + 4.04sWARNros2_control_nodeOverrun might occur, Total time : 6131.810 us (Expected < 1666.667 us) --> Read time : 151.967 us, Update time : 5451.748 us, Write time : 528.095 us[0m ×2 + 4.12sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 4.12sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.608203 ms (missed cycles : 7). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.608203 ms (missed cycles : 7).[0m ×2 + 5.25sWARNcontroller_managerOverrun might occur, Total time : 3884.696 us (Expected < 1666.667 us) --> Read time : 126.317 us, Update time : 3325.358 us, Write time : 433.021 us + 5.25sWARNros2_control_nodeOverrun might occur, Total time : 3884.696 us (Expected < 1666.667 us) --> Read time : 126.317 us, Update time : 3325.358 us, Write time : 433.021 us[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956502 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956502 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun might occur, Total time : 6041.105 us (Expected < 1666.667 us) --> Read time : 140.596 us, Update time : 5441.187 us, Write time : 459.322 us + 6.39sWARNros2_control_nodeOverrun might occur, Total time : 6041.105 us (Expected < 1666.667 us) --> Read time : 140.596 us, Update time : 5441.187 us, Write time : 459.322 us[0m ×2 + 6.59sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 6.60sINFOros2_control_node[2026-06-03 15:04:22.220] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-06-03 15:04:22.220] [info] Accepted new action goal ×2
− skipped	ML Segment Image Loop	ml_segment_image_loop.xml	0.0s	33 warnings · 89 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780499055.61721468 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.09sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.09sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780499056.20801091 seconds. ×3 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.552489 ms (missed cycles : 7). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.552489 ms (missed cycles : 7).[0m ×2 + 1.08sINFOobjective_server_node[0;93m2026-06-03 15:04:16.700892391 [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 + 1.08sINFOobjective_server_node[0;93m2026-06-03 15:04:16.700933753 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.10sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.10sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.10sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.10sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.26sWARNcontroller_managerOverrun might occur, Total time : 1731.922 us (Expected < 1666.667 us) --> Read time : 130.916 us, Update time : 1183.446 us, Write time : 417.560 us + 1.26sWARNros2_control_nodeOverrun might occur, Total time : 1731.922 us (Expected < 1666.667 us) --> Read time : 130.916 us, Update time : 1183.446 us, Write time : 417.560 us[0m ×2 + 1.58sINFOobjective_server_node[0;93m2026-06-03 15:04:17.192025562 [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 + 1.58sINFOobjective_server_node[0;93m2026-06-03 15:04:17.192057603 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.67sINFOobjective_server_node[0;93m2026-06-03 15:04:17.287821090 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 15:04:17.289726080 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 15:04:17.289744461 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.667794 ms (missed cycles : 6). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.667794 ms (missed cycles : 6).[0m ×2 + 1.99sINFOobjective_server_node[0;93m2026-06-03 15:04:17.602501170 [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 + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:04:17.620600188 [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 + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:04:17.620632479 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.809150 ms (missed cycles : 6). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.809150 ms (missed cycles : 6).[0m ×2 + 2.81sWARNcontroller_managerOverrun might occur, Total time : 1769.044 us (Expected < 1666.667 us) --> Read time : 760.226 us, Update time : 91.294 us, Write time : 917.524 us + 2.82sWARNros2_control_nodeOverrun might occur, Total time : 1769.044 us (Expected < 1666.667 us) --> Read time : 760.226 us, Update time : 91.294 us, Write time : 917.524 us[0m ×2 + 2.87sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780499058.49195266 seconds ×3 + 3.11sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.11sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780499059.15650511 seconds. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.61sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.63sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.64sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.77sINFOros2_control_node[2026-06-03 15:04:19.382] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-06-03 15:04:19.382] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309644 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309644 ms (missed cycles : 3).[0m ×2 + 4.04sWARNcontroller_managerOverrun might occur, Total time : 6131.810 us (Expected < 1666.667 us) --> Read time : 151.967 us, Update time : 5451.748 us, Write time : 528.095 us + 4.04sWARNros2_control_nodeOverrun might occur, Total time : 6131.810 us (Expected < 1666.667 us) --> Read time : 151.967 us, Update time : 5451.748 us, Write time : 528.095 us[0m ×2 + 4.12sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 4.12sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.608203 ms (missed cycles : 7). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.608203 ms (missed cycles : 7).[0m ×2 + 5.25sWARNcontroller_managerOverrun might occur, Total time : 3884.696 us (Expected < 1666.667 us) --> Read time : 126.317 us, Update time : 3325.358 us, Write time : 433.021 us + 5.25sWARNros2_control_nodeOverrun might occur, Total time : 3884.696 us (Expected < 1666.667 us) --> Read time : 126.317 us, Update time : 3325.358 us, Write time : 433.021 us[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956502 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956502 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun might occur, Total time : 6041.105 us (Expected < 1666.667 us) --> Read time : 140.596 us, Update time : 5441.187 us, Write time : 459.322 us + 6.39sWARNros2_control_nodeOverrun might occur, Total time : 6041.105 us (Expected < 1666.667 us) --> Read time : 140.596 us, Update time : 5441.187 us, Write time : 459.322 us[0m ×2 + 6.59sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 6.60sINFOros2_control_node[2026-06-03 15:04:22.220] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-06-03 15:04:22.220] [info] Accepted new action goal ×2
− skipped	ML Segment Point Cloud	ml_segment_point_cloud.xml	0.0s	33 warnings · 89 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780499055.61721468 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.09sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.09sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780499056.20801091 seconds. ×3 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.552489 ms (missed cycles : 7). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.552489 ms (missed cycles : 7).[0m ×2 + 1.08sINFOobjective_server_node[0;93m2026-06-03 15:04:16.700892391 [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 + 1.08sINFOobjective_server_node[0;93m2026-06-03 15:04:16.700933753 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.10sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.10sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.10sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.10sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.26sWARNcontroller_managerOverrun might occur, Total time : 1731.922 us (Expected < 1666.667 us) --> Read time : 130.916 us, Update time : 1183.446 us, Write time : 417.560 us + 1.26sWARNros2_control_nodeOverrun might occur, Total time : 1731.922 us (Expected < 1666.667 us) --> Read time : 130.916 us, Update time : 1183.446 us, Write time : 417.560 us[0m ×2 + 1.58sINFOobjective_server_node[0;93m2026-06-03 15:04:17.192025562 [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 + 1.58sINFOobjective_server_node[0;93m2026-06-03 15:04:17.192057603 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.67sINFOobjective_server_node[0;93m2026-06-03 15:04:17.287821090 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 15:04:17.289726080 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 15:04:17.289744461 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.667794 ms (missed cycles : 6). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.667794 ms (missed cycles : 6).[0m ×2 + 1.99sINFOobjective_server_node[0;93m2026-06-03 15:04:17.602501170 [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 + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:04:17.620600188 [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 + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:04:17.620632479 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.809150 ms (missed cycles : 6). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.809150 ms (missed cycles : 6).[0m ×2 + 2.81sWARNcontroller_managerOverrun might occur, Total time : 1769.044 us (Expected < 1666.667 us) --> Read time : 760.226 us, Update time : 91.294 us, Write time : 917.524 us + 2.82sWARNros2_control_nodeOverrun might occur, Total time : 1769.044 us (Expected < 1666.667 us) --> Read time : 760.226 us, Update time : 91.294 us, Write time : 917.524 us[0m ×2 + 2.87sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780499058.49195266 seconds ×3 + 3.11sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.11sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780499059.15650511 seconds. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.61sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.63sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.64sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.77sINFOros2_control_node[2026-06-03 15:04:19.382] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-06-03 15:04:19.382] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309644 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309644 ms (missed cycles : 3).[0m ×2 + 4.04sWARNcontroller_managerOverrun might occur, Total time : 6131.810 us (Expected < 1666.667 us) --> Read time : 151.967 us, Update time : 5451.748 us, Write time : 528.095 us + 4.04sWARNros2_control_nodeOverrun might occur, Total time : 6131.810 us (Expected < 1666.667 us) --> Read time : 151.967 us, Update time : 5451.748 us, Write time : 528.095 us[0m ×2 + 4.12sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 4.12sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.608203 ms (missed cycles : 7). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.608203 ms (missed cycles : 7).[0m ×2 + 5.25sWARNcontroller_managerOverrun might occur, Total time : 3884.696 us (Expected < 1666.667 us) --> Read time : 126.317 us, Update time : 3325.358 us, Write time : 433.021 us + 5.25sWARNros2_control_nodeOverrun might occur, Total time : 3884.696 us (Expected < 1666.667 us) --> Read time : 126.317 us, Update time : 3325.358 us, Write time : 433.021 us[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956502 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956502 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun might occur, Total time : 6041.105 us (Expected < 1666.667 us) --> Read time : 140.596 us, Update time : 5441.187 us, Write time : 459.322 us + 6.39sWARNros2_control_nodeOverrun might occur, Total time : 6041.105 us (Expected < 1666.667 us) --> Read time : 140.596 us, Update time : 5441.187 us, Write time : 459.322 us[0m ×2 + 6.59sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 6.60sINFOros2_control_node[2026-06-03 15:04:22.220] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-06-03 15:04:22.220] [info] Accepted new action goal ×2
− skipped	ML Segment Point Cloud from Clicked Point	ml_segment_point_cloud_from_clicked_point.xml	0.0s	33 warnings · 89 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780499055.61721468 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.09sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.09sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780499056.20801091 seconds. ×3 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.552489 ms (missed cycles : 7). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.552489 ms (missed cycles : 7).[0m ×2 + 1.08sINFOobjective_server_node[0;93m2026-06-03 15:04:16.700892391 [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 + 1.08sINFOobjective_server_node[0;93m2026-06-03 15:04:16.700933753 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.10sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.10sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.10sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.10sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.26sWARNcontroller_managerOverrun might occur, Total time : 1731.922 us (Expected < 1666.667 us) --> Read time : 130.916 us, Update time : 1183.446 us, Write time : 417.560 us + 1.26sWARNros2_control_nodeOverrun might occur, Total time : 1731.922 us (Expected < 1666.667 us) --> Read time : 130.916 us, Update time : 1183.446 us, Write time : 417.560 us[0m ×2 + 1.58sINFOobjective_server_node[0;93m2026-06-03 15:04:17.192025562 [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 + 1.58sINFOobjective_server_node[0;93m2026-06-03 15:04:17.192057603 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.67sINFOobjective_server_node[0;93m2026-06-03 15:04:17.287821090 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 15:04:17.289726080 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 15:04:17.289744461 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.667794 ms (missed cycles : 6). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.667794 ms (missed cycles : 6).[0m ×2 + 1.99sINFOobjective_server_node[0;93m2026-06-03 15:04:17.602501170 [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 + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:04:17.620600188 [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 + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:04:17.620632479 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.809150 ms (missed cycles : 6). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.809150 ms (missed cycles : 6).[0m ×2 + 2.81sWARNcontroller_managerOverrun might occur, Total time : 1769.044 us (Expected < 1666.667 us) --> Read time : 760.226 us, Update time : 91.294 us, Write time : 917.524 us + 2.82sWARNros2_control_nodeOverrun might occur, Total time : 1769.044 us (Expected < 1666.667 us) --> Read time : 760.226 us, Update time : 91.294 us, Write time : 917.524 us[0m ×2 + 2.87sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780499058.49195266 seconds ×3 + 3.11sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.11sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780499059.15650511 seconds. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.61sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.63sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.64sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.77sINFOros2_control_node[2026-06-03 15:04:19.382] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-06-03 15:04:19.382] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309644 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309644 ms (missed cycles : 3).[0m ×2 + 4.04sWARNcontroller_managerOverrun might occur, Total time : 6131.810 us (Expected < 1666.667 us) --> Read time : 151.967 us, Update time : 5451.748 us, Write time : 528.095 us + 4.04sWARNros2_control_nodeOverrun might occur, Total time : 6131.810 us (Expected < 1666.667 us) --> Read time : 151.967 us, Update time : 5451.748 us, Write time : 528.095 us[0m ×2 + 4.12sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 4.12sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.608203 ms (missed cycles : 7). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.608203 ms (missed cycles : 7).[0m ×2 + 5.25sWARNcontroller_managerOverrun might occur, Total time : 3884.696 us (Expected < 1666.667 us) --> Read time : 126.317 us, Update time : 3325.358 us, Write time : 433.021 us + 5.25sWARNros2_control_nodeOverrun might occur, Total time : 3884.696 us (Expected < 1666.667 us) --> Read time : 126.317 us, Update time : 3325.358 us, Write time : 433.021 us[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956502 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956502 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun might occur, Total time : 6041.105 us (Expected < 1666.667 us) --> Read time : 140.596 us, Update time : 5441.187 us, Write time : 459.322 us + 6.39sWARNros2_control_nodeOverrun might occur, Total time : 6041.105 us (Expected < 1666.667 us) --> Read time : 140.596 us, Update time : 5441.187 us, Write time : 459.322 us[0m ×2 + 6.59sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 6.60sINFOros2_control_node[2026-06-03 15:04:22.220] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-06-03 15:04:22.220] [info] Accepted new action goal ×2
− skipped	Move Along Square	move_along_square.xml	0.0s	33 warnings · 89 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780499055.61721468 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.09sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.09sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780499056.20801091 seconds. ×3 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.552489 ms (missed cycles : 7). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.552489 ms (missed cycles : 7).[0m ×2 + 1.08sINFOobjective_server_node[0;93m2026-06-03 15:04:16.700892391 [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 + 1.08sINFOobjective_server_node[0;93m2026-06-03 15:04:16.700933753 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.10sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.10sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.10sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.10sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.26sWARNcontroller_managerOverrun might occur, Total time : 1731.922 us (Expected < 1666.667 us) --> Read time : 130.916 us, Update time : 1183.446 us, Write time : 417.560 us + 1.26sWARNros2_control_nodeOverrun might occur, Total time : 1731.922 us (Expected < 1666.667 us) --> Read time : 130.916 us, Update time : 1183.446 us, Write time : 417.560 us[0m ×2 + 1.58sINFOobjective_server_node[0;93m2026-06-03 15:04:17.192025562 [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 + 1.58sINFOobjective_server_node[0;93m2026-06-03 15:04:17.192057603 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.67sINFOobjective_server_node[0;93m2026-06-03 15:04:17.287821090 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 15:04:17.289726080 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 15:04:17.289744461 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.667794 ms (missed cycles : 6). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.667794 ms (missed cycles : 6).[0m ×2 + 1.99sINFOobjective_server_node[0;93m2026-06-03 15:04:17.602501170 [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 + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:04:17.620600188 [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 + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:04:17.620632479 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.809150 ms (missed cycles : 6). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.809150 ms (missed cycles : 6).[0m ×2 + 2.81sWARNcontroller_managerOverrun might occur, Total time : 1769.044 us (Expected < 1666.667 us) --> Read time : 760.226 us, Update time : 91.294 us, Write time : 917.524 us + 2.82sWARNros2_control_nodeOverrun might occur, Total time : 1769.044 us (Expected < 1666.667 us) --> Read time : 760.226 us, Update time : 91.294 us, Write time : 917.524 us[0m ×2 + 2.87sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780499058.49195266 seconds ×3 + 3.11sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.11sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780499059.15650511 seconds. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.61sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.63sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.64sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.77sINFOros2_control_node[2026-06-03 15:04:19.382] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-06-03 15:04:19.382] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309644 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309644 ms (missed cycles : 3).[0m ×2 + 4.04sWARNcontroller_managerOverrun might occur, Total time : 6131.810 us (Expected < 1666.667 us) --> Read time : 151.967 us, Update time : 5451.748 us, Write time : 528.095 us + 4.04sWARNros2_control_nodeOverrun might occur, Total time : 6131.810 us (Expected < 1666.667 us) --> Read time : 151.967 us, Update time : 5451.748 us, Write time : 528.095 us[0m ×2 + 4.12sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 4.12sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.608203 ms (missed cycles : 7). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.608203 ms (missed cycles : 7).[0m ×2 + 5.25sWARNcontroller_managerOverrun might occur, Total time : 3884.696 us (Expected < 1666.667 us) --> Read time : 126.317 us, Update time : 3325.358 us, Write time : 433.021 us + 5.25sWARNros2_control_nodeOverrun might occur, Total time : 3884.696 us (Expected < 1666.667 us) --> Read time : 126.317 us, Update time : 3325.358 us, Write time : 433.021 us[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956502 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956502 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun might occur, Total time : 6041.105 us (Expected < 1666.667 us) --> Read time : 140.596 us, Update time : 5441.187 us, Write time : 459.322 us + 6.39sWARNros2_control_nodeOverrun might occur, Total time : 6041.105 us (Expected < 1666.667 us) --> Read time : 140.596 us, Update time : 5441.187 us, Write time : 459.322 us[0m ×2 + 6.59sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 6.60sINFOros2_control_node[2026-06-03 15:04:22.220] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-06-03 15:04:22.220] [info] Accepted new action goal ×2
− skipped	MPC Pose Tracking	mpc_pose_tracking.xml	0.0s	39 warnings · 47 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1742.013 us (Expected < 1666.667 us) --> Read time : 139.897 us, Update time : 1261.610 us, Write time : 340.506 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1742.013 us (Expected < 1666.667 us) --> Read time : 139.897 us, Update time : 1261.610 us, Write time : 340.506 us[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585203 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585203 ms (missed cycles : 4).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776014 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776014 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 6129.002 us (Expected < 1666.667 us) --> Read time : 145.967 us, Update time : 5401.587 us, Write time : 581.448 us + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 6129.002 us (Expected < 1666.667 us) --> Read time : 145.967 us, Update time : 5401.587 us, Write time : 581.448 us[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109684 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109684 ms (missed cycles : 2).[0m ×2 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 6083.088 us (Expected < 1666.667 us) --> Read time : 145.897 us, Update time : 5466.189 us, Write time : 471.002 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 6083.088 us (Expected < 1666.667 us) --> Read time : 145.897 us, Update time : 5466.189 us, Write time : 471.002 us[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780499111.69579554 seconds ×3 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.20sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event" + 3.20sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event"[0m ×2 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780499112.25982141 seconds. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551042 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551042 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.36sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.37sINFOros2_control_node[2026-06-03 15:05:12.423] [info] Received new action goal ×2 + 3.37sINFOros2_control_node[2026-06-03 15:05:12.423] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun might occur, Total time : 6091.960 us (Expected < 1666.667 us) --> Read time : 103.875 us, Update time : 5506.282 us, Write time : 481.803 us + 4.14sWARNros2_control_nodeOverrun might occur, Total time : 6091.960 us (Expected < 1666.667 us) --> Read time : 103.875 us, Update time : 5506.282 us, Write time : 481.803 us[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815847 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815847 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_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 + 4.64sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.69sINFOobjective_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 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerSuccessfully switched controllers! + 4.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.657390 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.657390 ms (missed cycles : 9).[0m ×2 + 5.30sWARNcontroller_managerOverrun might occur, Total time : 2035.296 us (Expected < 1666.667 us) --> Read time : 210.860 us, Update time : 1387.826 us, Write time : 436.610 us + 5.30sWARNros2_control_nodeOverrun might occur, Total time : 2035.296 us (Expected < 1666.667 us) --> Read time : 210.860 us, Update time : 1387.826 us, Write time : 436.610 us[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088784 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088784 ms (missed cycles : 4).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2130.281 us (Expected < 1666.667 us) --> Read time : 725.134 us, Update time : 68.733 us, Write time : 1336.414 us + 6.46sWARNros2_control_nodeOverrun might occur, Total time : 2130.281 us (Expected < 1666.667 us) --> Read time : 725.134 us, Update time : 68.733 us, Write time : 1336.414 us[0m ×2
− skipped	MPC Pose Tracking With Point Cloud Avoidance	mpc_pose_tracking_with_point_cloud_avoidance.xml	0.0s	36 warnings · 2736 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×449 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×449 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×898 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×898 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779901 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779901 ms (missed cycles : 2).[0m ×2 + 0.86sWARNcontroller_managerOverrun might occur, Total time : 1688.110 us (Expected < 1666.667 us) --> Read time : 161.928 us, Update time : 1211.947 us, Write time : 314.235 us + 0.86sWARNros2_control_nodeOverrun might occur, Total time : 1688.110 us (Expected < 1666.667 us) --> Read time : 161.928 us, Update time : 1211.947 us, Write time : 314.235 us[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.943018 ms (missed cycles : 7). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.943018 ms (missed cycles : 7).[0m ×2 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 9311.662 us (Expected < 1666.667 us) --> Read time : 191.289 us, Update time : 8694.253 us, Write time : 426.120 us + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 9311.662 us (Expected < 1666.667 us) --> Read time : 191.289 us, Update time : 8694.253 us, Write time : 426.120 us[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930227 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930227 ms (missed cycles : 3).[0m ×2 + 3.07sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780499177.02060103 seconds ×3 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438441 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438441 ms (missed cycles : 3).[0m ×2 + 3.46sWARNcontroller_managerOverrun might occur, Total time : 1853.078 us (Expected < 1666.667 us) --> Read time : 203.600 us, Update time : 1298.412 us, Write time : 351.066 us + 3.47sWARNros2_control_nodeOverrun might occur, Total time : 1853.078 us (Expected < 1666.667 us) --> Read time : 203.600 us, Update time : 1298.412 us, Write time : 351.066 us[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.65sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780499177.59984994 seconds. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOcontroller_managerSuccessfully switched controllers! + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 3.81sINFOros2_control_node[2026-06-03 15:06:17.764] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-06-03 15:06:17.764] [info] Accepted new action goal ×2 + 4.08sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view" + 4.09sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989887 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989887 ms (missed cycles : 2).[0m ×2 + 4.60sWARNcontroller_managerOverrun might occur, Total time : 5421.227 us (Expected < 1666.667 us) --> Read time : 105.995 us, Update time : 4794.597 us, Write time : 520.635 us + 4.61sWARNros2_control_nodeOverrun might occur, Total time : 5421.227 us (Expected < 1666.667 us) --> Read time : 105.995 us, Update time : 4794.597 us, Write time : 520.635 us[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518506 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518506 ms (missed cycles : 4).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1809.476 us (Expected < 1666.667 us) --> Read time : 163.018 us, Update time : 1266.650 us, Write time : 379.808 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1809.476 us (Expected < 1666.667 us) --> Read time : 163.018 us, Update time : 1266.650 us, Write time : 379.808 us[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826894 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826894 ms (missed cycles : 3).[0m ×2
− skipped	Pick All Bottles with AprilTags	pick_all_bottles_with_apriltags.xml	0.0s	36 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134950 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134950 ms (missed cycles : 2).[0m ×2 + 0.46sWARNcontroller_managerOverrun might occur, Total time : 4521.304 us (Expected < 1666.667 us) --> Read time : 120.116 us, Update time : 3859.932 us, Write time : 541.256 us + 0.46sWARNros2_control_nodeOverrun might occur, Total time : 4521.304 us (Expected < 1666.667 us) --> Read time : 120.116 us, Update time : 3859.932 us, Write time : 541.256 us[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219879 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219879 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun might occur, Total time : 1856.508 us (Expected < 1666.667 us) --> Read time : 150.337 us, Update time : 1285.471 us, Write time : 420.700 us + 1.61sWARNros2_control_nodeOverrun might occur, Total time : 1856.508 us (Expected < 1666.667 us) --> Read time : 150.337 us, Update time : 1285.471 us, Write time : 420.700 us[0m ×2 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325251 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325251 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780499218.38918114 seconds ×3 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.81sWARNcontroller_managerOverrun might occur, Total time : 4336.026 us (Expected < 1666.667 us) --> Read time : 101.375 us, Update time : 3892.194 us, Write time : 342.457 us + 2.81sWARNros2_control_nodeOverrun might occur, Total time : 4336.026 us (Expected < 1666.667 us) --> Read time : 101.375 us, Update time : 3892.194 us, Write time : 342.457 us[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.882262 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.882262 ms (missed cycles : 5).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780499219.07032299 seconds. ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.38sINFOros2_control_node[2026-06-03 15:06:59.282] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-06-03 15:06:59.282] [info] Accepted new action goal ×2 + 3.53sINFOfoxglove_bridgeRemoving channel 82 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.53sINFOfoxglove_bridgeRemoving channel 81 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/preview_solution" + 3.53sINFOfoxglove_bridgeRemoving channel 82 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.53sINFOfoxglove_bridgeRemoving channel 81 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.53sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/preview_solution"[0m ×2 + 3.98sWARNcontroller_managerOverrun might occur, Total time : 2534.560 us (Expected < 1666.667 us) --> Read time : 112.795 us, Update time : 2001.605 us, Write time : 420.160 us + 3.98sWARNros2_control_nodeOverrun might occur, Total time : 2534.560 us (Expected < 1666.667 us) --> Read time : 112.795 us, Update time : 2001.605 us, Write time : 420.160 us[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360600 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360600 ms (missed cycles : 3).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253752 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253752 ms (missed cycles : 4).[0m ×2 + 5.55sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/pcd_pointcloud_captures" + 5.55sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/pcd_pointcloud_captures"[0m ×2 + 5.78sWARNcontroller_managerOverrun might occur, Total time : 2286.958 us (Expected < 1666.667 us) --> Read time : 108.065 us, Update time : 1927.171 us, Write time : 251.722 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 2286.958 us (Expected < 1666.667 us) --> Read time : 108.065 us, Update time : 1927.171 us, Write time : 251.722 us[0m ×2 + 6.05sINFOfoxglove_bridgeRemoving channel 84 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.05sINFOfoxglove_bridgeRemoving channel 84 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280013 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280013 ms (missed cycles : 4).[0m ×2
− skipped	Pick All Pill Bottles	pick_all_pill_bottles.xml	0.0s	36 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134950 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134950 ms (missed cycles : 2).[0m ×2 + 0.46sWARNcontroller_managerOverrun might occur, Total time : 4521.304 us (Expected < 1666.667 us) --> Read time : 120.116 us, Update time : 3859.932 us, Write time : 541.256 us + 0.46sWARNros2_control_nodeOverrun might occur, Total time : 4521.304 us (Expected < 1666.667 us) --> Read time : 120.116 us, Update time : 3859.932 us, Write time : 541.256 us[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219879 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219879 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun might occur, Total time : 1856.508 us (Expected < 1666.667 us) --> Read time : 150.337 us, Update time : 1285.471 us, Write time : 420.700 us + 1.61sWARNros2_control_nodeOverrun might occur, Total time : 1856.508 us (Expected < 1666.667 us) --> Read time : 150.337 us, Update time : 1285.471 us, Write time : 420.700 us[0m ×2 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325251 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325251 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780499218.38918114 seconds ×3 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.81sWARNcontroller_managerOverrun might occur, Total time : 4336.026 us (Expected < 1666.667 us) --> Read time : 101.375 us, Update time : 3892.194 us, Write time : 342.457 us + 2.81sWARNros2_control_nodeOverrun might occur, Total time : 4336.026 us (Expected < 1666.667 us) --> Read time : 101.375 us, Update time : 3892.194 us, Write time : 342.457 us[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.882262 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.882262 ms (missed cycles : 5).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780499219.07032299 seconds. ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.38sINFOros2_control_node[2026-06-03 15:06:59.282] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-06-03 15:06:59.282] [info] Accepted new action goal ×2 + 3.53sINFOfoxglove_bridgeRemoving channel 82 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.53sINFOfoxglove_bridgeRemoving channel 81 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/preview_solution" + 3.53sINFOfoxglove_bridgeRemoving channel 82 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.53sINFOfoxglove_bridgeRemoving channel 81 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.53sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/preview_solution"[0m ×2 + 3.98sWARNcontroller_managerOverrun might occur, Total time : 2534.560 us (Expected < 1666.667 us) --> Read time : 112.795 us, Update time : 2001.605 us, Write time : 420.160 us + 3.98sWARNros2_control_nodeOverrun might occur, Total time : 2534.560 us (Expected < 1666.667 us) --> Read time : 112.795 us, Update time : 2001.605 us, Write time : 420.160 us[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360600 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360600 ms (missed cycles : 3).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253752 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253752 ms (missed cycles : 4).[0m ×2 + 5.55sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/pcd_pointcloud_captures" + 5.55sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/pcd_pointcloud_captures"[0m ×2 + 5.78sWARNcontroller_managerOverrun might occur, Total time : 2286.958 us (Expected < 1666.667 us) --> Read time : 108.065 us, Update time : 1927.171 us, Write time : 251.722 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 2286.958 us (Expected < 1666.667 us) --> Read time : 108.065 us, Update time : 1927.171 us, Write time : 251.722 us[0m ×2 + 6.05sINFOfoxglove_bridgeRemoving channel 84 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.05sINFOfoxglove_bridgeRemoving channel 84 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280013 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280013 ms (missed cycles : 4).[0m ×2
− skipped	Pick from Pose	pick_from_pose.xml	0.0s	3 errors · 33 warnings · 45 info
+ 0.00sINFOros2_control_node[2026-06-03 15:07:06.319] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-03 15:07:06.319] [info] Accepted new action goal ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977481 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977481 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun might occur, Total time : 2012.846 us (Expected < 1666.667 us) --> Read time : 181.209 us, Update time : 38.882 us, Write time : 1792.755 us + 1.31sWARNros2_control_nodeOverrun might occur, Total time : 2012.846 us (Expected < 1666.667 us) --> Read time : 181.209 us, Update time : 38.882 us, Write time : 1792.755 us[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-06-03 15:07:08.084] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-06-03 15:07:08.084] [info] Accepted new action goal ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702597 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702597 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748099 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748099 ms (missed cycles : 3).[0m ×2 + 3.07sINFOros2_control_node[2026-06-03 15:07:09.390] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-06-03 15:07:09.390] [info] Canceling active goal... ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780499229.39464426 seconds ×3 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.14sWARNcontroller_managerOverrun might occur, Total time : 6026.625 us (Expected < 1666.667 us) --> Read time : 106.705 us, Update time : 5535.342 us, Write time : 384.578 us + 3.14sWARNros2_control_nodeOverrun might occur, Total time : 6026.625 us (Expected < 1666.667 us) --> Read time : 106.705 us, Update time : 5535.342 us, Write time : 384.578 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780499230.00417590 seconds. ×3 + 3.74sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.74sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.74sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.74sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-06-03 15:07:10.168] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-06-03 15:07:10.168] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663327 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663327 ms (missed cycles : 2).[0m ×2 + 4.38sWARNcontroller_managerOverrun might occur, Total time : 4313.394 us (Expected < 1666.667 us) --> Read time : 118.085 us, Update time : 3693.975 us, Write time : 501.334 us + 4.38sWARNros2_control_nodeOverrun might occur, Total time : 4313.394 us (Expected < 1666.667 us) --> Read time : 118.085 us, Update time : 3693.975 us, Write time : 501.334 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625393 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625393 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2649.233 us (Expected < 1666.667 us) --> Read time : 164.637 us, Update time : 2137.770 us, Write time : 346.826 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2649.233 us (Expected < 1666.667 us) --> Read time : 164.637 us, Update time : 2137.770 us, Write time : 346.826 us[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012365 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012365 ms (missed cycles : 2).[0m ×2 + 6.91sWARNcontroller_managerOverrun might occur, Total time : 2581.951 us (Expected < 1666.667 us) --> Read time : 117.705 us, Update time : 2123.970 us, Write time : 340.276 us + 6.91sWARNros2_control_nodeOverrun might occur, Total time : 2581.951 us (Expected < 1666.667 us) --> Read time : 117.705 us, Update time : 2123.970 us, Write time : 340.276 us[0m ×2
− skipped	Pick from Pose Vector	pick_from_pose_vector.xml	0.0s	3 errors · 33 warnings · 45 info
+ 0.00sINFOros2_control_node[2026-06-03 15:07:06.319] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-03 15:07:06.319] [info] Accepted new action goal ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977481 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977481 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun might occur, Total time : 2012.846 us (Expected < 1666.667 us) --> Read time : 181.209 us, Update time : 38.882 us, Write time : 1792.755 us + 1.31sWARNros2_control_nodeOverrun might occur, Total time : 2012.846 us (Expected < 1666.667 us) --> Read time : 181.209 us, Update time : 38.882 us, Write time : 1792.755 us[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-06-03 15:07:08.084] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-06-03 15:07:08.084] [info] Accepted new action goal ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702597 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702597 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748099 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748099 ms (missed cycles : 3).[0m ×2 + 3.07sINFOros2_control_node[2026-06-03 15:07:09.390] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-06-03 15:07:09.390] [info] Canceling active goal... ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780499229.39464426 seconds ×3 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.14sWARNcontroller_managerOverrun might occur, Total time : 6026.625 us (Expected < 1666.667 us) --> Read time : 106.705 us, Update time : 5535.342 us, Write time : 384.578 us + 3.14sWARNros2_control_nodeOverrun might occur, Total time : 6026.625 us (Expected < 1666.667 us) --> Read time : 106.705 us, Update time : 5535.342 us, Write time : 384.578 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780499230.00417590 seconds. ×3 + 3.74sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.74sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.74sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.74sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-06-03 15:07:10.168] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-06-03 15:07:10.168] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663327 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663327 ms (missed cycles : 2).[0m ×2 + 4.38sWARNcontroller_managerOverrun might occur, Total time : 4313.394 us (Expected < 1666.667 us) --> Read time : 118.085 us, Update time : 3693.975 us, Write time : 501.334 us + 4.38sWARNros2_control_nodeOverrun might occur, Total time : 4313.394 us (Expected < 1666.667 us) --> Read time : 118.085 us, Update time : 3693.975 us, Write time : 501.334 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625393 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625393 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2649.233 us (Expected < 1666.667 us) --> Read time : 164.637 us, Update time : 2137.770 us, Write time : 346.826 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2649.233 us (Expected < 1666.667 us) --> Read time : 164.637 us, Update time : 2137.770 us, Write time : 346.826 us[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012365 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012365 ms (missed cycles : 2).[0m ×2 + 6.91sWARNcontroller_managerOverrun might occur, Total time : 2581.951 us (Expected < 1666.667 us) --> Read time : 117.705 us, Update time : 2123.970 us, Write time : 340.276 us + 6.91sWARNros2_control_nodeOverrun might occur, Total time : 2581.951 us (Expected < 1666.667 us) --> Read time : 117.705 us, Update time : 2123.970 us, Write time : 340.276 us[0m ×2
− skipped	Pick from Pose With Approval	pick_from_pose_with_approval.xml	0.0s	3 errors · 33 warnings · 45 info
+ 0.00sINFOros2_control_node[2026-06-03 15:07:06.319] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-03 15:07:06.319] [info] Accepted new action goal ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977481 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977481 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun might occur, Total time : 2012.846 us (Expected < 1666.667 us) --> Read time : 181.209 us, Update time : 38.882 us, Write time : 1792.755 us + 1.31sWARNros2_control_nodeOverrun might occur, Total time : 2012.846 us (Expected < 1666.667 us) --> Read time : 181.209 us, Update time : 38.882 us, Write time : 1792.755 us[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-06-03 15:07:08.084] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-06-03 15:07:08.084] [info] Accepted new action goal ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702597 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702597 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748099 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748099 ms (missed cycles : 3).[0m ×2 + 3.07sINFOros2_control_node[2026-06-03 15:07:09.390] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-06-03 15:07:09.390] [info] Canceling active goal... ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780499229.39464426 seconds ×3 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.14sWARNcontroller_managerOverrun might occur, Total time : 6026.625 us (Expected < 1666.667 us) --> Read time : 106.705 us, Update time : 5535.342 us, Write time : 384.578 us + 3.14sWARNros2_control_nodeOverrun might occur, Total time : 6026.625 us (Expected < 1666.667 us) --> Read time : 106.705 us, Update time : 5535.342 us, Write time : 384.578 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780499230.00417590 seconds. ×3 + 3.74sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.74sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.74sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.74sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-06-03 15:07:10.168] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-06-03 15:07:10.168] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663327 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663327 ms (missed cycles : 2).[0m ×2 + 4.38sWARNcontroller_managerOverrun might occur, Total time : 4313.394 us (Expected < 1666.667 us) --> Read time : 118.085 us, Update time : 3693.975 us, Write time : 501.334 us + 4.38sWARNros2_control_nodeOverrun might occur, Total time : 4313.394 us (Expected < 1666.667 us) --> Read time : 118.085 us, Update time : 3693.975 us, Write time : 501.334 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625393 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625393 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2649.233 us (Expected < 1666.667 us) --> Read time : 164.637 us, Update time : 2137.770 us, Write time : 346.826 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2649.233 us (Expected < 1666.667 us) --> Read time : 164.637 us, Update time : 2137.770 us, Write time : 346.826 us[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012365 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012365 ms (missed cycles : 2).[0m ×2 + 6.91sWARNcontroller_managerOverrun might occur, Total time : 2581.951 us (Expected < 1666.667 us) --> Read time : 117.705 us, Update time : 2123.970 us, Write time : 340.276 us + 6.91sWARNros2_control_nodeOverrun might occur, Total time : 2581.951 us (Expected < 1666.667 us) --> Read time : 117.705 us, Update time : 2123.970 us, Write time : 340.276 us[0m ×2
− skipped	Pick object	pick_object.xml	0.0s	3 errors · 33 warnings · 45 info
+ 0.00sINFOros2_control_node[2026-06-03 15:07:06.319] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-03 15:07:06.319] [info] Accepted new action goal ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977481 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977481 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun might occur, Total time : 2012.846 us (Expected < 1666.667 us) --> Read time : 181.209 us, Update time : 38.882 us, Write time : 1792.755 us + 1.31sWARNros2_control_nodeOverrun might occur, Total time : 2012.846 us (Expected < 1666.667 us) --> Read time : 181.209 us, Update time : 38.882 us, Write time : 1792.755 us[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-06-03 15:07:08.084] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-06-03 15:07:08.084] [info] Accepted new action goal ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702597 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702597 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748099 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748099 ms (missed cycles : 3).[0m ×2 + 3.07sINFOros2_control_node[2026-06-03 15:07:09.390] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-06-03 15:07:09.390] [info] Canceling active goal... ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780499229.39464426 seconds ×3 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.14sWARNcontroller_managerOverrun might occur, Total time : 6026.625 us (Expected < 1666.667 us) --> Read time : 106.705 us, Update time : 5535.342 us, Write time : 384.578 us + 3.14sWARNros2_control_nodeOverrun might occur, Total time : 6026.625 us (Expected < 1666.667 us) --> Read time : 106.705 us, Update time : 5535.342 us, Write time : 384.578 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780499230.00417590 seconds. ×3 + 3.74sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.74sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.74sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.74sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-06-03 15:07:10.168] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-06-03 15:07:10.168] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663327 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663327 ms (missed cycles : 2).[0m ×2 + 4.38sWARNcontroller_managerOverrun might occur, Total time : 4313.394 us (Expected < 1666.667 us) --> Read time : 118.085 us, Update time : 3693.975 us, Write time : 501.334 us + 4.38sWARNros2_control_nodeOverrun might occur, Total time : 4313.394 us (Expected < 1666.667 us) --> Read time : 118.085 us, Update time : 3693.975 us, Write time : 501.334 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625393 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625393 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2649.233 us (Expected < 1666.667 us) --> Read time : 164.637 us, Update time : 2137.770 us, Write time : 346.826 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2649.233 us (Expected < 1666.667 us) --> Read time : 164.637 us, Update time : 2137.770 us, Write time : 346.826 us[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012365 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012365 ms (missed cycles : 2).[0m ×2 + 6.91sWARNcontroller_managerOverrun might occur, Total time : 2581.951 us (Expected < 1666.667 us) --> Read time : 117.705 us, Update time : 2123.970 us, Write time : 340.276 us + 6.91sWARNros2_control_nodeOverrun might occur, Total time : 2581.951 us (Expected < 1666.667 us) --> Read time : 117.705 us, Update time : 2123.970 us, Write time : 340.276 us[0m ×2
− skipped	Pick up Object	pick_up_cube.xml	0.0s	3 errors · 33 warnings · 45 info
+ 0.00sINFOros2_control_node[2026-06-03 15:07:06.319] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-03 15:07:06.319] [info] Accepted new action goal ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977481 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977481 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun might occur, Total time : 2012.846 us (Expected < 1666.667 us) --> Read time : 181.209 us, Update time : 38.882 us, Write time : 1792.755 us + 1.31sWARNros2_control_nodeOverrun might occur, Total time : 2012.846 us (Expected < 1666.667 us) --> Read time : 181.209 us, Update time : 38.882 us, Write time : 1792.755 us[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-06-03 15:07:08.084] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-06-03 15:07:08.084] [info] Accepted new action goal ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702597 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702597 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748099 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748099 ms (missed cycles : 3).[0m ×2 + 3.07sINFOros2_control_node[2026-06-03 15:07:09.390] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-06-03 15:07:09.390] [info] Canceling active goal... ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780499229.39464426 seconds ×3 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.14sWARNcontroller_managerOverrun might occur, Total time : 6026.625 us (Expected < 1666.667 us) --> Read time : 106.705 us, Update time : 5535.342 us, Write time : 384.578 us + 3.14sWARNros2_control_nodeOverrun might occur, Total time : 6026.625 us (Expected < 1666.667 us) --> Read time : 106.705 us, Update time : 5535.342 us, Write time : 384.578 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780499230.00417590 seconds. ×3 + 3.74sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.74sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.74sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.74sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-06-03 15:07:10.168] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-06-03 15:07:10.168] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663327 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663327 ms (missed cycles : 2).[0m ×2 + 4.38sWARNcontroller_managerOverrun might occur, Total time : 4313.394 us (Expected < 1666.667 us) --> Read time : 118.085 us, Update time : 3693.975 us, Write time : 501.334 us + 4.38sWARNros2_control_nodeOverrun might occur, Total time : 4313.394 us (Expected < 1666.667 us) --> Read time : 118.085 us, Update time : 3693.975 us, Write time : 501.334 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625393 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625393 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2649.233 us (Expected < 1666.667 us) --> Read time : 164.637 us, Update time : 2137.770 us, Write time : 346.826 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2649.233 us (Expected < 1666.667 us) --> Read time : 164.637 us, Update time : 2137.770 us, Write time : 346.826 us[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012365 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012365 ms (missed cycles : 2).[0m ×2 + 6.91sWARNcontroller_managerOverrun might occur, Total time : 2581.951 us (Expected < 1666.667 us) --> Read time : 117.705 us, Update time : 2123.970 us, Write time : 340.276 us + 6.91sWARNros2_control_nodeOverrun might occur, Total time : 2581.951 us (Expected < 1666.667 us) --> Read time : 117.705 us, Update time : 2123.970 us, Write time : 340.276 us[0m ×2
− skipped	Place at Pose	place_at_pose.xml	0.0s	3 errors · 33 warnings · 45 info
+ 0.00sINFOros2_control_node[2026-06-03 15:07:06.319] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-03 15:07:06.319] [info] Accepted new action goal ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977481 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977481 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun might occur, Total time : 2012.846 us (Expected < 1666.667 us) --> Read time : 181.209 us, Update time : 38.882 us, Write time : 1792.755 us + 1.31sWARNros2_control_nodeOverrun might occur, Total time : 2012.846 us (Expected < 1666.667 us) --> Read time : 181.209 us, Update time : 38.882 us, Write time : 1792.755 us[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-06-03 15:07:08.084] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-06-03 15:07:08.084] [info] Accepted new action goal ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702597 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702597 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748099 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748099 ms (missed cycles : 3).[0m ×2 + 3.07sINFOros2_control_node[2026-06-03 15:07:09.390] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-06-03 15:07:09.390] [info] Canceling active goal... ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780499229.39464426 seconds ×3 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.14sWARNcontroller_managerOverrun might occur, Total time : 6026.625 us (Expected < 1666.667 us) --> Read time : 106.705 us, Update time : 5535.342 us, Write time : 384.578 us + 3.14sWARNros2_control_nodeOverrun might occur, Total time : 6026.625 us (Expected < 1666.667 us) --> Read time : 106.705 us, Update time : 5535.342 us, Write time : 384.578 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780499230.00417590 seconds. ×3 + 3.74sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.74sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.74sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.74sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-06-03 15:07:10.168] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-06-03 15:07:10.168] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663327 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663327 ms (missed cycles : 2).[0m ×2 + 4.38sWARNcontroller_managerOverrun might occur, Total time : 4313.394 us (Expected < 1666.667 us) --> Read time : 118.085 us, Update time : 3693.975 us, Write time : 501.334 us + 4.38sWARNros2_control_nodeOverrun might occur, Total time : 4313.394 us (Expected < 1666.667 us) --> Read time : 118.085 us, Update time : 3693.975 us, Write time : 501.334 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625393 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625393 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2649.233 us (Expected < 1666.667 us) --> Read time : 164.637 us, Update time : 2137.770 us, Write time : 346.826 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2649.233 us (Expected < 1666.667 us) --> Read time : 164.637 us, Update time : 2137.770 us, Write time : 346.826 us[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012365 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012365 ms (missed cycles : 2).[0m ×2 + 6.91sWARNcontroller_managerOverrun might occur, Total time : 2581.951 us (Expected < 1666.667 us) --> Read time : 117.705 us, Update time : 2123.970 us, Write time : 340.276 us + 6.91sWARNros2_control_nodeOverrun might occur, Total time : 2581.951 us (Expected < 1666.667 us) --> Read time : 117.705 us, Update time : 2123.970 us, Write time : 340.276 us[0m ×2
− skipped	Place at Pose Vector	place_at_pose_vector.xml	0.0s	3 errors · 33 warnings · 45 info
+ 0.00sINFOros2_control_node[2026-06-03 15:07:06.319] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-03 15:07:06.319] [info] Accepted new action goal ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977481 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977481 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun might occur, Total time : 2012.846 us (Expected < 1666.667 us) --> Read time : 181.209 us, Update time : 38.882 us, Write time : 1792.755 us + 1.31sWARNros2_control_nodeOverrun might occur, Total time : 2012.846 us (Expected < 1666.667 us) --> Read time : 181.209 us, Update time : 38.882 us, Write time : 1792.755 us[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-06-03 15:07:08.084] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-06-03 15:07:08.084] [info] Accepted new action goal ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702597 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702597 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748099 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748099 ms (missed cycles : 3).[0m ×2 + 3.07sINFOros2_control_node[2026-06-03 15:07:09.390] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-06-03 15:07:09.390] [info] Canceling active goal... ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780499229.39464426 seconds ×3 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.14sWARNcontroller_managerOverrun might occur, Total time : 6026.625 us (Expected < 1666.667 us) --> Read time : 106.705 us, Update time : 5535.342 us, Write time : 384.578 us + 3.14sWARNros2_control_nodeOverrun might occur, Total time : 6026.625 us (Expected < 1666.667 us) --> Read time : 106.705 us, Update time : 5535.342 us, Write time : 384.578 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780499230.00417590 seconds. ×3 + 3.74sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.74sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.74sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.74sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-06-03 15:07:10.168] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-06-03 15:07:10.168] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663327 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663327 ms (missed cycles : 2).[0m ×2 + 4.38sWARNcontroller_managerOverrun might occur, Total time : 4313.394 us (Expected < 1666.667 us) --> Read time : 118.085 us, Update time : 3693.975 us, Write time : 501.334 us + 4.38sWARNros2_control_nodeOverrun might occur, Total time : 4313.394 us (Expected < 1666.667 us) --> Read time : 118.085 us, Update time : 3693.975 us, Write time : 501.334 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625393 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625393 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2649.233 us (Expected < 1666.667 us) --> Read time : 164.637 us, Update time : 2137.770 us, Write time : 346.826 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2649.233 us (Expected < 1666.667 us) --> Read time : 164.637 us, Update time : 2137.770 us, Write time : 346.826 us[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012365 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012365 ms (missed cycles : 2).[0m ×2 + 6.91sWARNcontroller_managerOverrun might occur, Total time : 2581.951 us (Expected < 1666.667 us) --> Read time : 117.705 us, Update time : 2123.970 us, Write time : 340.276 us + 6.91sWARNros2_control_nodeOverrun might occur, Total time : 2581.951 us (Expected < 1666.667 us) --> Read time : 117.705 us, Update time : 2123.970 us, Write time : 340.276 us[0m ×2
− skipped	Place at Pose with Approval	place_at_pose_with_approval.xml	0.0s	3 errors · 33 warnings · 45 info
+ 0.00sINFOros2_control_node[2026-06-03 15:07:06.319] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-03 15:07:06.319] [info] Accepted new action goal ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977481 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977481 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun might occur, Total time : 2012.846 us (Expected < 1666.667 us) --> Read time : 181.209 us, Update time : 38.882 us, Write time : 1792.755 us + 1.31sWARNros2_control_nodeOverrun might occur, Total time : 2012.846 us (Expected < 1666.667 us) --> Read time : 181.209 us, Update time : 38.882 us, Write time : 1792.755 us[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-06-03 15:07:08.084] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-06-03 15:07:08.084] [info] Accepted new action goal ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702597 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702597 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748099 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748099 ms (missed cycles : 3).[0m ×2 + 3.07sINFOros2_control_node[2026-06-03 15:07:09.390] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-06-03 15:07:09.390] [info] Canceling active goal... ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780499229.39464426 seconds ×3 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.14sWARNcontroller_managerOverrun might occur, Total time : 6026.625 us (Expected < 1666.667 us) --> Read time : 106.705 us, Update time : 5535.342 us, Write time : 384.578 us + 3.14sWARNros2_control_nodeOverrun might occur, Total time : 6026.625 us (Expected < 1666.667 us) --> Read time : 106.705 us, Update time : 5535.342 us, Write time : 384.578 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780499230.00417590 seconds. ×3 + 3.74sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.74sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.74sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.74sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-06-03 15:07:10.168] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-06-03 15:07:10.168] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663327 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663327 ms (missed cycles : 2).[0m ×2 + 4.38sWARNcontroller_managerOverrun might occur, Total time : 4313.394 us (Expected < 1666.667 us) --> Read time : 118.085 us, Update time : 3693.975 us, Write time : 501.334 us + 4.38sWARNros2_control_nodeOverrun might occur, Total time : 4313.394 us (Expected < 1666.667 us) --> Read time : 118.085 us, Update time : 3693.975 us, Write time : 501.334 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625393 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625393 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2649.233 us (Expected < 1666.667 us) --> Read time : 164.637 us, Update time : 2137.770 us, Write time : 346.826 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2649.233 us (Expected < 1666.667 us) --> Read time : 164.637 us, Update time : 2137.770 us, Write time : 346.826 us[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012365 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012365 ms (missed cycles : 2).[0m ×2 + 6.91sWARNcontroller_managerOverrun might occur, Total time : 2581.951 us (Expected < 1666.667 us) --> Read time : 117.705 us, Update time : 2123.970 us, Write time : 340.276 us + 6.91sWARNros2_control_nodeOverrun might occur, Total time : 2581.951 us (Expected < 1666.667 us) --> Read time : 117.705 us, Update time : 2123.970 us, Write time : 340.276 us[0m ×2
− skipped	Plan Move To Pose	plan_move_to_pose.xml	0.0s	3 errors · 30 warnings · 21 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644156 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644156 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.030453 ms (missed cycles : 8). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.030453 ms (missed cycles : 8).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975386 ms (missed cycles : 5). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975386 ms (missed cycles : 5).[0m ×2 + 2.41sWARNcontroller_managerOverrun might occur, Total time : 4453.160 us (Expected < 1666.667 us) --> Read time : 167.818 us, Update time : 3839.601 us, Write time : 445.741 us + 2.41sWARNros2_control_nodeOverrun might occur, Total time : 4453.160 us (Expected < 1666.667 us) --> Read time : 167.818 us, Update time : 3839.601 us, Write time : 445.741 us[0m ×2 + 2.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780499240.39449859 seconds ×3 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095822 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095822 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780499240.95591235 seconds. ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.57sINFOfoxglove_bridgeRemoving channel 83 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.57sINFOfoxglove_bridgeRemoving channel 83 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3484.045 us (Expected < 1666.667 us) --> Read time : 197.730 us, Update time : 2840.634 us, Write time : 445.681 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3484.045 us (Expected < 1666.667 us) --> Read time : 197.730 us, Update time : 2840.634 us, Write time : 445.681 us[0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.64sINFOros2_control_node[2026-06-03 15:07:21.194] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-06-03 15:07:21.194] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894703 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894703 ms (missed cycles : 2).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810948 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810948 ms (missed cycles : 3).[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794606 ms (missed cycles : 3). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794606 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 1911.610 us (Expected < 1666.667 us) --> Read time : 199.659 us, Update time : 246.622 us, Write time : 1465.329 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 1911.610 us (Expected < 1666.667 us) --> Read time : 199.659 us, Update time : 246.622 us, Write time : 1465.329 us[0m ×2
− skipped	Push Button With a Trajectory	push_button_with_a_trajectory.xml	0.0s	36 warnings · 27 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954765 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954765 ms (missed cycles : 3).[0m ×2 + 0.74sWARNcontroller_managerOverrun might occur, Total time : 2258.797 us (Expected < 1666.667 us) --> Read time : 145.207 us, Update time : 1774.474 us, Write time : 339.116 us + 0.74sWARNros2_control_nodeOverrun might occur, Total time : 2258.797 us (Expected < 1666.667 us) --> Read time : 145.207 us, Update time : 1774.474 us, Write time : 339.116 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635254 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635254 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739905 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739905 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun might occur, Total time : 1670.499 us (Expected < 1666.667 us) --> Read time : 128.787 us, Update time : 1185.525 us, Write time : 356.187 us + 2.17sWARNros2_control_nodeOverrun might occur, Total time : 1670.499 us (Expected < 1666.667 us) --> Read time : 128.787 us, Update time : 1185.525 us, Write time : 356.187 us[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780499250.78945804 seconds ×3 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.135508 ms (missed cycles : 8). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.135508 ms (missed cycles : 8).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780499251.34266567 seconds. ×3 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.56sWARNcontroller_managerOverrun might occur, Total time : 2738.929 us (Expected < 1666.667 us) --> Read time : 130.066 us, Update time : 2207.564 us, Write time : 401.299 us + 3.56sWARNros2_control_nodeOverrun might occur, Total time : 2738.929 us (Expected < 1666.667 us) --> Read time : 130.066 us, Update time : 2207.564 us, Write time : 401.299 us[0m ×2 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.60sINFOros2_control_node[2026-06-03 15:07:31.467] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-06-03 15:07:31.467] [info] Accepted new action goal ×2 + 3.86sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/preview_solution" + 3.86sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/preview_solution"[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866273 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866273 ms (missed cycles : 3).[0m ×2 + 4.79sWARNcontroller_managerOverrun might occur, Total time : 2153.042 us (Expected < 1666.667 us) --> Read time : 121.556 us, Update time : 1658.308 us, Write time : 373.178 us + 4.79sWARNros2_control_nodeOverrun might occur, Total time : 2153.042 us (Expected < 1666.667 us) --> Read time : 121.556 us, Update time : 1658.308 us, Write time : 373.178 us[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.883751 ms (missed cycles : 7). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.883751 ms (missed cycles : 7).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.88sWARNcontroller_managerOverrun might occur, Total time : 2845.665 us (Expected < 1666.667 us) --> Read time : 108.895 us, Update time : 2415.825 us, Write time : 320.945 us + 5.88sWARNros2_control_nodeOverrun might occur, Total time : 2845.665 us (Expected < 1666.667 us) --> Read time : 108.895 us, Update time : 2415.825 us, Write time : 320.945 us[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532517 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532517 ms (missed cycles : 3).[0m ×2
− skipped	Record Square Trajectory	record_square_trajectory.xml	0.0s	3 errors · 33 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548295 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548295 ms (missed cycles : 6).[0m ×2 + 0.04sWARNcontroller_managerOverrun might occur, Total time : 1813.996 us (Expected < 1666.667 us) --> Read time : 186.819 us, Update time : 1280.990 us, Write time : 346.187 us + 0.04sWARNros2_control_nodeOverrun might occur, Total time : 1813.996 us (Expected < 1666.667 us) --> Read time : 186.819 us, Update time : 1280.990 us, Write time : 346.187 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898070 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898070 ms (missed cycles : 2).[0m ×2 + 1.93sWARNcontroller_managerOverrun might occur, Total time : 2275.467 us (Expected < 1666.667 us) --> Read time : 214.480 us, Update time : 1597.875 us, Write time : 463.112 us + 1.93sWARNros2_control_nodeOverrun might occur, Total time : 2275.467 us (Expected < 1666.667 us) --> Read time : 214.480 us, Update time : 1597.875 us, Write time : 463.112 us[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797731 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797731 ms (missed cycles : 2).[0m ×2 + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780499261.50336242 seconds ×3 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.37sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780499262.12486243 seconds. ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sWARNcontroller_managerOverrun might occur, Total time : 5849.318 us (Expected < 1666.667 us) --> Read time : 267.673 us, Update time : 5101.692 us (Switch time : 4987.686 us (Switch chained mode time : 1.010 us, perform mode change time : 3.950 us, Activation time : 4977.556 us, Deactivation time : 0.430 us)), Write time : 479.953 us + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 5849.318 us (Expected < 1666.667 us) --> Read time : 267.673 us, Update time : 5101.692 us (Switch time : 4987.686 us (Switch chained mode time : 1.010 us, perform mode change time : 3.950 us, Activation time : 4977.556 us, Deactivation time : 0.430 us)), Write time : 479.953 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780499262.20500302 seconds ×3 + 3.10sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.10sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209543 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209543 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780499262.76163268 seconds. ×3 + 3.57sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780499262.79366112 seconds ×3 + 3.96sWARNcontroller_managerOverrun might occur, Total time : 3632.491 us (Expected < 1666.667 us) --> Read time : 148.456 us, Update time : 29.422 us, Write time : 3454.613 us + 3.96sWARNros2_control_nodeOverrun might occur, Total time : 3632.491 us (Expected < 1666.667 us) --> Read time : 148.456 us, Update time : 29.422 us, Write time : 3454.613 us[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780499263.33965445 seconds. ×3 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155871 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155871 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.21sINFOros2_control_node[2026-06-03 15:07:43.434] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-06-03 15:07:43.434] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096030 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096030 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun might occur, Total time : 3006.543 us (Expected < 1666.667 us) --> Read time : 147.367 us, Update time : 2539.201 us, Write time : 319.975 us + 5.34sWARNros2_control_nodeOverrun might occur, Total time : 3006.543 us (Expected < 1666.667 us) --> Read time : 147.367 us, Update time : 2539.201 us, Write time : 319.975 us[0m ×2
− skipped	Reflect Poses Subtree	reflect_poses_subtree.xml	0.0s	3 errors · 33 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548295 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548295 ms (missed cycles : 6).[0m ×2 + 0.04sWARNcontroller_managerOverrun might occur, Total time : 1813.996 us (Expected < 1666.667 us) --> Read time : 186.819 us, Update time : 1280.990 us, Write time : 346.187 us + 0.04sWARNros2_control_nodeOverrun might occur, Total time : 1813.996 us (Expected < 1666.667 us) --> Read time : 186.819 us, Update time : 1280.990 us, Write time : 346.187 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898070 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898070 ms (missed cycles : 2).[0m ×2 + 1.93sWARNcontroller_managerOverrun might occur, Total time : 2275.467 us (Expected < 1666.667 us) --> Read time : 214.480 us, Update time : 1597.875 us, Write time : 463.112 us + 1.93sWARNros2_control_nodeOverrun might occur, Total time : 2275.467 us (Expected < 1666.667 us) --> Read time : 214.480 us, Update time : 1597.875 us, Write time : 463.112 us[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797731 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797731 ms (missed cycles : 2).[0m ×2 + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780499261.50336242 seconds ×3 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.37sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780499262.12486243 seconds. ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sWARNcontroller_managerOverrun might occur, Total time : 5849.318 us (Expected < 1666.667 us) --> Read time : 267.673 us, Update time : 5101.692 us (Switch time : 4987.686 us (Switch chained mode time : 1.010 us, perform mode change time : 3.950 us, Activation time : 4977.556 us, Deactivation time : 0.430 us)), Write time : 479.953 us + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 5849.318 us (Expected < 1666.667 us) --> Read time : 267.673 us, Update time : 5101.692 us (Switch time : 4987.686 us (Switch chained mode time : 1.010 us, perform mode change time : 3.950 us, Activation time : 4977.556 us, Deactivation time : 0.430 us)), Write time : 479.953 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780499262.20500302 seconds ×3 + 3.10sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.10sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209543 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209543 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780499262.76163268 seconds. ×3 + 3.57sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780499262.79366112 seconds ×3 + 3.96sWARNcontroller_managerOverrun might occur, Total time : 3632.491 us (Expected < 1666.667 us) --> Read time : 148.456 us, Update time : 29.422 us, Write time : 3454.613 us + 3.96sWARNros2_control_nodeOverrun might occur, Total time : 3632.491 us (Expected < 1666.667 us) --> Read time : 148.456 us, Update time : 29.422 us, Write time : 3454.613 us[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780499263.33965445 seconds. ×3 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155871 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155871 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.21sINFOros2_control_node[2026-06-03 15:07:43.434] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-06-03 15:07:43.434] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096030 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096030 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun might occur, Total time : 3006.543 us (Expected < 1666.667 us) --> Read time : 147.367 us, Update time : 2539.201 us, Write time : 319.975 us + 5.34sWARNros2_control_nodeOverrun might occur, Total time : 3006.543 us (Expected < 1666.667 us) --> Read time : 147.367 us, Update time : 2539.201 us, Write time : 319.975 us[0m ×2
− skipped	Register CAD Part Subtree	register_cad_part_subtree.xml	0.0s	3 errors · 33 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548295 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548295 ms (missed cycles : 6).[0m ×2 + 0.04sWARNcontroller_managerOverrun might occur, Total time : 1813.996 us (Expected < 1666.667 us) --> Read time : 186.819 us, Update time : 1280.990 us, Write time : 346.187 us + 0.04sWARNros2_control_nodeOverrun might occur, Total time : 1813.996 us (Expected < 1666.667 us) --> Read time : 186.819 us, Update time : 1280.990 us, Write time : 346.187 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898070 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898070 ms (missed cycles : 2).[0m ×2 + 1.93sWARNcontroller_managerOverrun might occur, Total time : 2275.467 us (Expected < 1666.667 us) --> Read time : 214.480 us, Update time : 1597.875 us, Write time : 463.112 us + 1.93sWARNros2_control_nodeOverrun might occur, Total time : 2275.467 us (Expected < 1666.667 us) --> Read time : 214.480 us, Update time : 1597.875 us, Write time : 463.112 us[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797731 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797731 ms (missed cycles : 2).[0m ×2 + 2.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780499261.50336242 seconds ×3 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.37sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780499262.12486243 seconds. ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sWARNcontroller_managerOverrun might occur, Total time : 5849.318 us (Expected < 1666.667 us) --> Read time : 267.673 us, Update time : 5101.692 us (Switch time : 4987.686 us (Switch chained mode time : 1.010 us, perform mode change time : 3.950 us, Activation time : 4977.556 us, Deactivation time : 0.430 us)), Write time : 479.953 us + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 5849.318 us (Expected < 1666.667 us) --> Read time : 267.673 us, Update time : 5101.692 us (Switch time : 4987.686 us (Switch chained mode time : 1.010 us, perform mode change time : 3.950 us, Activation time : 4977.556 us, Deactivation time : 0.430 us)), Write time : 479.953 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780499262.20500302 seconds ×3 + 3.10sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.10sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209543 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209543 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780499262.76163268 seconds. ×3 + 3.57sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780499262.79366112 seconds ×3 + 3.96sWARNcontroller_managerOverrun might occur, Total time : 3632.491 us (Expected < 1666.667 us) --> Read time : 148.456 us, Update time : 29.422 us, Write time : 3454.613 us + 3.96sWARNros2_control_nodeOverrun might occur, Total time : 3632.491 us (Expected < 1666.667 us) --> Read time : 148.456 us, Update time : 29.422 us, Write time : 3454.613 us[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780499263.33965445 seconds. ×3 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155871 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155871 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.21sINFOros2_control_node[2026-06-03 15:07:43.434] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-06-03 15:07:43.434] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096030 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096030 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun might occur, Total time : 3006.543 us (Expected < 1666.667 us) --> Read time : 147.367 us, Update time : 2539.201 us, Write time : 319.975 us + 5.34sWARNros2_control_nodeOverrun might occur, Total time : 3006.543 us (Expected < 1666.667 us) --> Read time : 147.367 us, Update time : 2539.201 us, Write time : 319.975 us[0m ×2
− skipped	Scan Scene - Multiple Point Clouds	scan_scene_-_multiple_point_clouds.xml	0.0s	3 errors · 30 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898070 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898070 ms (missed cycles : 2).[0m ×2 + 0.90sWARNcontroller_managerOverrun might occur, Total time : 2275.467 us (Expected < 1666.667 us) --> Read time : 214.480 us, Update time : 1597.875 us, Write time : 463.112 us + 0.90sWARNros2_control_nodeOverrun might occur, Total time : 2275.467 us (Expected < 1666.667 us) --> Read time : 214.480 us, Update time : 1597.875 us, Write time : 463.112 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797731 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797731 ms (missed cycles : 2).[0m ×2 + 1.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780499261.50336242 seconds ×3 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780499262.12486243 seconds. ×3 + 1.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.95sWARNcontroller_managerOverrun might occur, Total time : 5849.318 us (Expected < 1666.667 us) --> Read time : 267.673 us, Update time : 5101.692 us (Switch time : 4987.686 us (Switch chained mode time : 1.010 us, perform mode change time : 3.950 us, Activation time : 4977.556 us, Deactivation time : 0.430 us)), Write time : 479.953 us + 1.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.95sWARNros2_control_nodeOverrun might occur, Total time : 5849.318 us (Expected < 1666.667 us) --> Read time : 267.673 us, Update time : 5101.692 us (Switch time : 4987.686 us (Switch chained mode time : 1.010 us, perform mode change time : 3.950 us, Activation time : 4977.556 us, Deactivation time : 0.430 us)), Write time : 479.953 us[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780499262.20500302 seconds ×3 + 2.07sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.07sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209543 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209543 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780499262.76163268 seconds. ×3 + 2.55sINFOobjective_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 + 2.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780499262.79366112 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 3632.491 us (Expected < 1666.667 us) --> Read time : 148.456 us, Update time : 29.422 us, Write time : 3454.613 us + 2.94sWARNros2_control_nodeOverrun might occur, Total time : 3632.491 us (Expected < 1666.667 us) --> Read time : 148.456 us, Update time : 29.422 us, Write time : 3454.613 us[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780499263.33965445 seconds. ×3 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155871 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155871 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.18sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.19sINFOros2_control_node[2026-06-03 15:07:43.434] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-06-03 15:07:43.434] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096030 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096030 ms (missed cycles : 2).[0m ×2 + 4.31sWARNcontroller_managerOverrun might occur, Total time : 3006.543 us (Expected < 1666.667 us) --> Read time : 147.367 us, Update time : 2539.201 us, Write time : 319.975 us + 4.31sWARNros2_control_nodeOverrun might occur, Total time : 3006.543 us (Expected < 1666.667 us) --> Read time : 147.367 us, Update time : 2539.201 us, Write time : 319.975 us[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053322 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053322 ms (missed cycles : 4).[0m ×2
− skipped	Segment Bottle Subtree	segment_bottle_subtree.xml	0.0s	3 errors · 30 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898070 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898070 ms (missed cycles : 2).[0m ×2 + 0.90sWARNcontroller_managerOverrun might occur, Total time : 2275.467 us (Expected < 1666.667 us) --> Read time : 214.480 us, Update time : 1597.875 us, Write time : 463.112 us + 0.90sWARNros2_control_nodeOverrun might occur, Total time : 2275.467 us (Expected < 1666.667 us) --> Read time : 214.480 us, Update time : 1597.875 us, Write time : 463.112 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797731 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797731 ms (missed cycles : 2).[0m ×2 + 1.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780499261.50336242 seconds ×3 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780499262.12486243 seconds. ×3 + 1.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.95sWARNcontroller_managerOverrun might occur, Total time : 5849.318 us (Expected < 1666.667 us) --> Read time : 267.673 us, Update time : 5101.692 us (Switch time : 4987.686 us (Switch chained mode time : 1.010 us, perform mode change time : 3.950 us, Activation time : 4977.556 us, Deactivation time : 0.430 us)), Write time : 479.953 us + 1.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.95sWARNros2_control_nodeOverrun might occur, Total time : 5849.318 us (Expected < 1666.667 us) --> Read time : 267.673 us, Update time : 5101.692 us (Switch time : 4987.686 us (Switch chained mode time : 1.010 us, perform mode change time : 3.950 us, Activation time : 4977.556 us, Deactivation time : 0.430 us)), Write time : 479.953 us[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780499262.20500302 seconds ×3 + 2.07sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.07sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209543 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209543 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780499262.76163268 seconds. ×3 + 2.55sINFOobjective_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 + 2.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780499262.79366112 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 3632.491 us (Expected < 1666.667 us) --> Read time : 148.456 us, Update time : 29.422 us, Write time : 3454.613 us + 2.94sWARNros2_control_nodeOverrun might occur, Total time : 3632.491 us (Expected < 1666.667 us) --> Read time : 148.456 us, Update time : 29.422 us, Write time : 3454.613 us[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780499263.33965445 seconds. ×3 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155871 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155871 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.18sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.19sINFOros2_control_node[2026-06-03 15:07:43.434] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-06-03 15:07:43.434] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096030 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096030 ms (missed cycles : 2).[0m ×2 + 4.31sWARNcontroller_managerOverrun might occur, Total time : 3006.543 us (Expected < 1666.667 us) --> Read time : 147.367 us, Update time : 2539.201 us, Write time : 319.975 us + 4.31sWARNros2_control_nodeOverrun might occur, Total time : 3006.543 us (Expected < 1666.667 us) --> Read time : 147.367 us, Update time : 2539.201 us, Write time : 319.975 us[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053322 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053322 ms (missed cycles : 4).[0m ×2
− skipped	Stitch Multiple Point Clouds Together	stitch_multiple_point_clouds_together.xml	0.0s	3 errors · 42 warnings · 62 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4072.451 us (Expected < 1666.667 us) --> Read time : 121.086 us, Update time : 3504.874 us, Write time : 446.491 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4072.451 us (Expected < 1666.667 us) --> Read time : 121.086 us, Update time : 3504.874 us, Write time : 446.491 us[0m ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088016 ms (missed cycles : 4). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088016 ms (missed cycles : 4).[0m ×2 + 1.31sWARNcontroller_managerOverrun might occur, Total time : 4984.953 us (Expected < 1666.667 us) --> Read time : 148.907 us, Update time : 4423.577 us, Write time : 412.469 us + 1.32sWARNros2_control_nodeOverrun might occur, Total time : 4984.953 us (Expected < 1666.667 us) --> Read time : 148.907 us, Update time : 4423.577 us, Write time : 412.469 us[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212019 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212019 ms (missed cycles : 2).[0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012153 ms (missed cycles : 2). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012153 ms (missed cycles : 2).[0m ×2 + 2.94sINFOros2_control_node[2026-06-03 15:07:53.389] [info] Got request to cancel active goal. ×2 + 2.94sINFOros2_control_node[2026-06-03 15:07:53.389] [info] Canceling active goal... ×2 + 2.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780499273.39461827 seconds ×3 + 2.99sWARNcontroller_managerOverrun might occur, Total time : 1886.468 us (Expected < 1666.667 us) --> Read time : 183.608 us, Update time : 1378.425 us, Write time : 324.435 us + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 1886.468 us (Expected < 1666.667 us) --> Read time : 183.608 us, Update time : 1378.425 us, Write time : 324.435 us[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498100 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498100 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780499274.01740408 seconds. ×3 + 3.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780499274.41754675 seconds ×3 + 3.97sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event" + 3.97sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event"[0m ×2 + 4.37sWARNcontroller_managerOverrun might occur, Total time : 4109.451 us (Expected < 1666.667 us) --> Read time : 140.366 us, Update time : 3505.483 us, Write time : 463.602 us + 4.37sWARNros2_control_nodeOverrun might occur, Total time : 4109.451 us (Expected < 1666.667 us) --> Read time : 140.366 us, Update time : 3505.483 us, Write time : 463.602 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780499274.96084571 seconds. ×3 + 4.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.51sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780499274.96242285 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844357 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844357 ms (missed cycles : 3).[0m ×2 + 4.98sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.98sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg" + 4.98sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.98sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg"[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780499275.50927019 seconds. ×3 + 5.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780499275.50969124 seconds ×3 + 5.48sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String) + 5.49sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 5.53sWARNcontroller_managerOverrun might occur, Total time : 6313.296 us (Expected < 1666.667 us) --> Read time : 164.228 us, Update time : 5709.578 us, Write time : 439.490 us + 5.53sWARNros2_control_nodeOverrun might occur, Total time : 6313.296 us (Expected < 1666.667 us) --> Read time : 164.228 us, Update time : 5709.578 us, Write time : 439.490 us[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309294 ms (missed cycles : 4). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309294 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780499276.06202817 seconds. ×3 + 5.92sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780499276.37216783 seconds ×3 + 5.95sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573708 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573708 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 4469.729 us (Expected < 1666.667 us) --> Read time : 130.446 us, Update time : 3911.203 us, Write time : 428.080 us + 6.66sWARNros2_control_nodeOverrun might occur, Total time : 4469.729 us (Expected < 1666.667 us) --> Read time : 130.446 us, Update time : 3911.203 us, Write time : 428.080 us[0m ×2
− skipped	Take Wrist Camera Image	take_picture_with_wrist_camera.xml	0.0s	3 errors · 42 warnings · 62 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4072.451 us (Expected < 1666.667 us) --> Read time : 121.086 us, Update time : 3504.874 us, Write time : 446.491 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 4072.451 us (Expected < 1666.667 us) --> Read time : 121.086 us, Update time : 3504.874 us, Write time : 446.491 us[0m ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088016 ms (missed cycles : 4). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088016 ms (missed cycles : 4).[0m ×2 + 1.31sWARNcontroller_managerOverrun might occur, Total time : 4984.953 us (Expected < 1666.667 us) --> Read time : 148.907 us, Update time : 4423.577 us, Write time : 412.469 us + 1.32sWARNros2_control_nodeOverrun might occur, Total time : 4984.953 us (Expected < 1666.667 us) --> Read time : 148.907 us, Update time : 4423.577 us, Write time : 412.469 us[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212019 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212019 ms (missed cycles : 2).[0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012153 ms (missed cycles : 2). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012153 ms (missed cycles : 2).[0m ×2 + 2.94sINFOros2_control_node[2026-06-03 15:07:53.389] [info] Got request to cancel active goal. ×2 + 2.94sINFOros2_control_node[2026-06-03 15:07:53.389] [info] Canceling active goal... ×2 + 2.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780499273.39461827 seconds ×3 + 2.99sWARNcontroller_managerOverrun might occur, Total time : 1886.468 us (Expected < 1666.667 us) --> Read time : 183.608 us, Update time : 1378.425 us, Write time : 324.435 us + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 1886.468 us (Expected < 1666.667 us) --> Read time : 183.608 us, Update time : 1378.425 us, Write time : 324.435 us[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498100 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498100 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780499274.01740408 seconds. ×3 + 3.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780499274.41754675 seconds ×3 + 3.97sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event" + 3.97sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event"[0m ×2 + 4.37sWARNcontroller_managerOverrun might occur, Total time : 4109.451 us (Expected < 1666.667 us) --> Read time : 140.366 us, Update time : 3505.483 us, Write time : 463.602 us + 4.37sWARNros2_control_nodeOverrun might occur, Total time : 4109.451 us (Expected < 1666.667 us) --> Read time : 140.366 us, Update time : 3505.483 us, Write time : 463.602 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780499274.96084571 seconds. ×3 + 4.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.51sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780499274.96242285 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844357 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844357 ms (missed cycles : 3).[0m ×2 + 4.98sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.98sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg" + 4.98sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.98sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg"[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780499275.50927019 seconds. ×3 + 5.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780499275.50969124 seconds ×3 + 5.48sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String) + 5.49sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 5.53sWARNcontroller_managerOverrun might occur, Total time : 6313.296 us (Expected < 1666.667 us) --> Read time : 164.228 us, Update time : 5709.578 us, Write time : 439.490 us + 5.53sWARNros2_control_nodeOverrun might occur, Total time : 6313.296 us (Expected < 1666.667 us) --> Read time : 164.228 us, Update time : 5709.578 us, Write time : 439.490 us[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309294 ms (missed cycles : 4). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309294 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780499276.06202817 seconds. ×3 + 5.92sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780499276.37216783 seconds ×3 + 5.95sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573708 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573708 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 4469.729 us (Expected < 1666.667 us) --> Read time : 130.446 us, Update time : 3911.203 us, Write time : 428.080 us + 6.66sWARNros2_control_nodeOverrun might occur, Total time : 4469.729 us (Expected < 1666.667 us) --> Read time : 130.446 us, Update time : 3911.203 us, Write time : 428.080 us[0m ×2

▾/__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	36 warnings · 118 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 5.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×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	36 warnings · 118 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 5.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×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	36 warnings · 118 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 5.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×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	36 warnings · 118 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 5.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×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	36 warnings · 118 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 5.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×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	36 warnings · 118 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 5.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×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	36 warnings · 118 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 5.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×2

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

20 skip

− skipped	—	move_to_pose.xml	0.0s	36 warnings · 118 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 5.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×2
− skipped	—	execute_mtc_solution.xml	0.0s	41 warnings
+ 0.00sWARNros2 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 + 0.21sWARNros2 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 + 0.30sWARNros2 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 + 0.39sWARNros2 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 + 0.40sWARNros2 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 + 0.40sWARNros2 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 + 0.43sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.43sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.48sWARNros2 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... ×2 + 0.59sWARNros2 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 + 0.62sWARNros2 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 + 0.63sWARNros2 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	36 warnings · 118 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 5.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	41 warnings
+ 0.00sWARNros2 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 + 0.21sWARNros2 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 + 0.30sWARNros2 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 + 0.39sWARNros2 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 + 0.40sWARNros2 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 + 0.40sWARNros2 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 + 0.43sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.43sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.48sWARNros2 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... ×2 + 0.59sWARNros2 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 + 0.62sWARNros2 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 + 0.63sWARNros2 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	36 warnings · 118 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 5.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	41 warnings
+ 0.00sWARNros2 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 + 0.21sWARNros2 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 + 0.30sWARNros2 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 + 0.39sWARNros2 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 + 0.40sWARNros2 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 + 0.40sWARNros2 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 + 0.43sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.43sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.48sWARNros2 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... ×2 + 0.59sWARNros2 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 + 0.62sWARNros2 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 + 0.63sWARNros2 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	36 warnings · 118 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 5.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	41 warnings
+ 0.00sWARNros2 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 + 0.21sWARNros2 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 + 0.30sWARNros2 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 + 0.39sWARNros2 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 + 0.40sWARNros2 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 + 0.40sWARNros2 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 + 0.43sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.43sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.48sWARNros2 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... ×2 + 0.59sWARNros2 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 + 0.62sWARNros2 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 + 0.63sWARNros2 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_joint_state.xml	0.0s	36 warnings · 118 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 5.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	41 warnings
+ 0.00sWARNros2 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 + 0.21sWARNros2 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 + 0.30sWARNros2 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 + 0.39sWARNros2 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 + 0.40sWARNros2 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 + 0.40sWARNros2 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 + 0.43sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.43sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.48sWARNros2 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... ×2 + 0.59sWARNros2 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 + 0.62sWARNros2 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 + 0.63sWARNros2 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	41 warnings
+ 0.00sWARNros2 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 + 0.21sWARNros2 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 + 0.30sWARNros2 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 + 0.39sWARNros2 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 + 0.40sWARNros2 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 + 0.40sWARNros2 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 + 0.43sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.43sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.48sWARNros2 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... ×2 + 0.59sWARNros2 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 + 0.62sWARNros2 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 + 0.63sWARNros2 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	36 warnings · 118 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 5.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	41 warnings
+ 0.00sWARNros2 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 + 0.21sWARNros2 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 + 0.30sWARNros2 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 + 0.39sWARNros2 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 + 0.40sWARNros2 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 + 0.40sWARNros2 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 + 0.43sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.43sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.48sWARNros2 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... ×2 + 0.59sWARNros2 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 + 0.62sWARNros2 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 + 0.63sWARNros2 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	36 warnings · 118 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 5.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	41 warnings
+ 0.00sWARNros2 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 + 0.21sWARNros2 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 + 0.30sWARNros2 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 + 0.39sWARNros2 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 + 0.40sWARNros2 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 + 0.40sWARNros2 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 + 0.43sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.43sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.48sWARNros2 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... ×2 + 0.59sWARNros2 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 + 0.62sWARNros2 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 + 0.63sWARNros2 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	36 warnings · 118 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 5.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	41 warnings
+ 0.00sWARNros2 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 + 0.21sWARNros2 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 + 0.30sWARNros2 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 + 0.39sWARNros2 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 + 0.40sWARNros2 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 + 0.40sWARNros2 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 + 0.43sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.43sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.48sWARNros2 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... ×2 + 0.59sWARNros2 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 + 0.62sWARNros2 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 + 0.63sWARNros2 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	36 warnings · 118 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 5.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	41 warnings
+ 0.00sWARNros2 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 + 0.21sWARNros2 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 + 0.30sWARNros2 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 + 0.39sWARNros2 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 + 0.40sWARNros2 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 + 0.40sWARNros2 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 + 0.43sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.43sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.48sWARNros2 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... ×2 + 0.59sWARNros2 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 + 0.62sWARNros2 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 + 0.63sWARNros2 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	36 warnings · 118 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 5.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×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	41 warnings
+ 0.00sWARNros2 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 + 0.21sWARNros2 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 + 0.30sWARNros2 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 + 0.39sWARNros2 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 + 0.40sWARNros2 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 + 0.40sWARNros2 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 + 0.43sWARNcontroller_managerWaiting for data on 'robot_description' topic to finish initialization ×7 + 0.43sWARNros2_control_nodeWaiting for data on 'robot_description' topic to finish initialization[0m ×14 + 0.48sWARNros2 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... ×2 + 0.59sWARNros2 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 + 0.62sWARNros2 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 + 0.63sWARNros2 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	36 warnings · 118 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498962.05256963 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691174 ms (missed cycles : 2).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1673.300 us (Expected < 1666.667 us) --> Read time : 105.135 us, Update time : 1285.781 us, Write time : 282.384 us[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498963.06272268 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004059 ms (missed cycles : 5).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498963.67109299 seconds. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498963.69122744 seconds ×3 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2638.025 us (Expected < 1666.667 us) --> Read time : 97.215 us, Update time : 2142.551 us, Write time : 398.259 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929604 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498964.24506617 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498964.39562082 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498964.98977518 seconds. ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 3430.023 us (Expected < 1666.667 us) --> Read time : 93.984 us, Update time : 3170.841 us, Write time : 165.198 us[0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sWARNcontroller_managerOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 2706.728 us (Expected < 1666.667 us) --> Read time : 114.835 us, Update time : 2323.020 us (Switch time : 2296.379 us (Switch chained mode time : 0.520 us, perform mode change time : 2.390 us, Activation time : 2289.199 us, Deactivation time : 0.320 us)), Write time : 268.873 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498965.04991150 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053785 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498965.62789464 seconds. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.9771e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-03 15:02:45.743] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1784.725 us (Expected < 1666.667 us) --> Read time : 1281.891 us, Update time : 96.385 us, Write time : 406.449 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151978 ms (missed cycles : 8).[0m ×2 + 5.13sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.002 of wall time (2/3149). Below 1% is expected on a non-realtime system.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307292 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-06-03 15:02:48.281] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.717068 ms (missed cycles : 6).[0m ×2